JP2014013527A - Image forming apparatus, image forming system, and image forming program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image forming apparatus, and the like capable of forming a superimposed image in which CG representing railway related facilities are superimposed on a precise position of a photographed image obtained by photographing a site where the railway related facilities are installed.SOLUTION: An image forming apparatus acquires three-dimensional absolute coordinates of two specific points on a three-dimensional VR (virtual reality) model, determines corresponding points corresponding to the specific points in a photographed image acquired by a camera on the basis of installation information and camera parameter information of the camera, and generates an image in which a three-dimensional VR (virtual reality) model image is superimposed such that the corresponding points of the photographed image coincide with the specific points of the three-dimensional VR (virtual reality) model.

Description

  The present invention relates to a technical field such as an image forming apparatus that forms an image obtained by superimposing CG (Computer Graphics) representing an installation facility on an image of a site where the facility is installed.

  Conventionally, in the field of civil engineering / construction, various ideas have been made so that an operator can work according to a design drawing prepared in advance. An example of this is the traditional Japanese style. However, advanced technology is required to accurately install the tension. Further, it is possible to roughly grasp whether the work is proceeding as shown in the drawing in the middle of the work.

  Therefore, as shown in FIG. 1, when the superstructure 53 is installed on top of the two columns 51, 52, the columns 51 and 52 are in the middle of the construction of the columns 51, 52 shown in FIG. It is easy to determine that the construction is correctly performed by standing in parallel with each other, and it is easy to determine that the construction is correctly performed when the columns 51 and 52 shown in FIG. 1B are completed. And in the construction stage where the superstructure 53 shown in FIG. 1 (C) is installed, it becomes clear that the columns 51 and 52 are not erected vertically, and a situation where a construction error is noticed may occur. In this case, it is necessary to return to the construction stage where the pillars 51 and 52 are erected and to redo the work.

  On the other hand, in the railway construction field, where construction related to railways is performed, there is a problem that work confirmation can only be done after a stoppage of power transmission or after the track is closed in the vicinity of the live line. Technology that can be done is required.

  By the way, in recent years, many techniques for using CG in the field of civil engineering and construction have been proposed. For example, Patent Document 1 discloses a CG representing a work object and a backhoe club bucket (a part for excavating and unloading earth and sand) when working in a cloudy sea with poor visibility using an underwater backhoe. A technique for displaying on a marine display device is disclosed. In this technique, a back sensor is provided with a contact sensor that detects a load (reaction force) when contacting a work object, and a displacement detection sensor that detects displacement information for calculating the position of the contact sensor. CG is formed and displayed based on the input information. According to this technology, there is an advantage that work can be performed based on CG even when the field of view of the work site is poor.

  Therefore, it is proposed to introduce CG in the railway construction field. Specifically, it is proposed to superimpose a CG representing a railroad-related facility on a photographed image of a site where the railroad-related facility is installed according to a design drawing. For example, as shown in FIG. 2, if a CG 59 representing the pillar 52 can be superimposed on a photographed image 60 taken of the site where the pillars 51 and 52 are erected in accordance with the design drawing, an early stage (in the example of FIG. 1). At the stage shown in (A), a construction error can be noticed, and the rework can be minimized.

JP 2003-278159 A

However, according to the technique described in Patent Document 1, the machine tool needs to be in direct contact with a work target such as a railway-related facility, and as proposed above, the site where the railway-related facility is installed is located away from the position. There was a problem that CG could not be superimposed on the exact position on the photographed image. As described above, unless the CG is superimposed on the exact position of the photographed image, it is difficult to notice the construction mistake and the work confirmation cannot be performed accurately.

  The present invention has been made in view of such problems and the like, and forms a superimposed image in which a CG representing a railway-related facility is superimposed at an accurate position in a captured image obtained by photographing a site where the railway-related facility is installed. It is an object of the present invention to provide an image forming apparatus and the like that can be used.

In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a three-dimensional VR (Virtual Reality) model representing a railway-related facility and at least two or more constituent points constituting the three-dimensional VR model. Storage means for storing position information capable of specifying a three-dimensional absolute coordinate indicating a point where the constituent point should be located when the related facility is installed, and a captured image obtained by photographing the site where the railway related facility is installed An image acquisition means for acquiring, a specifying means for specifying a point corresponding to a three-dimensional absolute coordinate specified by the position information stored for any of the constituent points in the acquired captured image, and the specified The 3D VR model is superimposed on the acquired captured image so that a point matches the constituent point corresponding to the 3D absolute coordinate corresponding to the identified point. And forming means for forming a superimposed image, characterized in that it comprises a.

  Railway-related facilities include, for example, stations (station buildings, platforms, station buildings, etc.), railroad bridges (including free passages), elevators and escalators, railroad tracks (including overhead lines and signal equipment in addition to tracks), Examples include railway structures such as tunnels and viaducts, and facilities and buildings that are close to tracks.

  Further, the position information that can specify the three-dimensional absolute coordinates may be the three-dimensional absolute coordinates (for example, (latitude, longitude, height from the tidal level in Tokyo Bay)) itself, for example, predetermined information Relative coordinates based on three-dimensional absolute coordinates may be used.

  Furthermore, the captured image may be either a moving image or a still image. Similarly, the formed superimposed image may be an image in which a 3D VR model is superimposed on a moving image, or may be an image in which a 3D VR model is superimposed on a still image. When a 3D VR model is superimposed on a moving image, a moving image captured by a surveillance camera or the like can be used as a captured image. Since surveillance cameras are often installed near the site where railway-related facilities are installed, there is an advantage that it is not necessary to provide a camera for forming a new superimposed image.

  A second aspect of the present invention is the image forming apparatus according to the first aspect, further comprising display control means for displaying a superimposed image formed by the forming means on a display unit.

  Invention of Claim 3 is an image forming apparatus of Claim 1 or 2, Comprising: The said memory | storage means memorize | stores the said three-dimensional VR model according to each construction step of the said railway related facility, The forming means forms the superimposed image in which the three-dimensional VR model corresponding to the construction stage selected by the user is superimposed.

  A fourth aspect of the present invention is the image forming apparatus according to any one of the first to third aspects, wherein the captured image acquired by the image acquiring unit or the superimposed image formed by the forming unit is used. A calculation means for specifying the three-dimensional absolute coordinates of the two points designated by the user and calculating a distance between the two points; and a distance display control means for displaying the calculated distance between the two points on a display unit; Is further provided.

  Invention of Claim 5 is an image forming apparatus as described in any one of Claim 1 thru | or 4, Comprising: The image of the said railway related facility of the said real thing in the said superimposition image, or the said railway related facility in the middle of construction Recognizing recognition means, comparing means for comparing the recognized image with the three-dimensional VR model superimposed on the superimposed image, comparison result display control means for displaying the comparison result on a display unit, Is further provided.

  A sixth aspect of the present invention is an image forming system including the image forming apparatus according to any one of the first to fifth aspects and a camera that captures the captured image.

According to the seventh aspect of the present invention, when the railway-related facility is installed with respect to a three-dimensional VR (Virtual Reality) model representing the railway-related facility and at least two constituent points constituting the three-dimensional VR model. A captured image obtained by photographing a computer included in an image forming apparatus including a storage unit that stores position information capable of specifying three-dimensional absolute coordinates indicating a point where the constituent point is to be located, at a site where the railway-related facility is installed Image acquisition means for acquiring a point, a specifying means for specifying a point corresponding to a three-dimensional absolute coordinate specified by the position information stored for any of the constituent points in the acquired photographed image, the specified point And the three-dimensional VR mode on the acquired captured image so that the constituent points corresponding to the three-dimensional absolute coordinates corresponding to the specified point coincide with each other. An image forming program for causing to function forming means for forming a superimposed image obtained by superimposing the Le a,.

  According to the present invention, based on the three-dimensional absolute coordinates, it is possible to form a superimposed image in which a CG representing a railway-related facility is superimposed at an accurate position in a captured image obtained by photographing a site where the railway-related facility is installed. it can. Therefore, it is possible to notice a construction error at an early stage, reduce the number of rework, and perform work confirmation accurately.

It is an example figure which shows the mode when the conventional construction mistake is detected. It is a figure which shows an example at the time of superimposing CG59 showing the pillar 52 on a picked-up image according to a design drawing. 1 is a block diagram illustrating an example of a configuration of an image forming system S. FIG. 1 is a block diagram illustrating a configuration of an image forming apparatus 1. FIG. (A) It is a figure which shows an example of the picked-up image of the state before an escalator is installed. (B) It is a figure which shows an example of the superimposition image which superimposed the VR model of the escalator in the middle of construction on the picked-up image. (C) It is a figure which shows an example of the superimposition image which superimposed the VR model of the escalator at the time of construction completion on the picked-up image. 4 is a flowchart illustrating an example of a superimposed image forming process performed by a control unit 11.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiment described below is an embodiment when the present invention is applied to an image forming system.

[1. Overview of image forming system configuration and functions]
First, the configuration and outline functions of the image forming system S according to an embodiment of the present invention will be described with reference to FIG.

FIG. 3 is a diagram illustrating an example of a schematic configuration of the image forming system S according to the present embodiment. As shown in FIG. 3, the image forming system S includes a camera 2 that captures a site where an escalator (an example of a “railway related facility”) is installed, and an image forming apparatus 1. As the camera 2, a surveillance camera for photographing the site where the escalator is installed can be used. The camera 2 and the image forming apparatus 1 are connected via a network NW. The network NW is constructed by, for example, the Internet, a dedicated communication line (for example, CATV (Community Antenna Television) line), a mobile communication network (including a base station), a gateway, and the like.

The image forming apparatus 1 includes a three-dimensional VR (Virtual Reality) model (hereinafter referred to as an escalator).
It is called “VR model”. ) And has a function of forming a superimposed image in which a VR model is superimposed on a captured image captured by the camera 2. In particular, when forming the superimposed image, the image forming apparatus 1 superimposes the VR model on the position where the escalator is actually installed according to the absolute coordinates based on the design drawing.

[2. Configuration of Image Forming Apparatus 1]
FIG. 4 is a block diagram illustrating a schematic configuration example of the image forming apparatus 1 according to the present embodiment. As illustrated in FIG. 4, the image forming apparatus 1 includes a control unit 11, a storage unit 12, an interface unit 13, a display unit 14, and an operation unit 15.

The storage unit 12 includes, for example, a hard disk drive (HDD) and stores various programs such as an operating system and application programs. In particular, an application program for forming a superimposed image (hereinafter referred to as “image forming application”) is stored in the storage unit 12 of the present embodiment. Note that the various programs may be acquired from another server device or the like via a network, or may be recorded on a recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc) to be a drive device. You may make it read via.

The storage unit 12 (an example of “storage unit”) stores the VR model of the escalator. The VR model is created based on the actual escalator design drawing. The storage unit 12 stores the following information (i) and (ii) for the configuration points (point groups) that make up the VR model.
(i) Absolute coordinates (for example, latitude / longitude) or position information that can be converted to absolute coordinates
(ii) A numerical value indicating the absolute height (for example, the height from the Earth ellipsoid, the height from the Tokyo Bay middle tide level (TP (Tokyo Peil))) or a numerical value indicating the absolute height. Height information In other words, the storage unit 12 stores three-dimensional absolute coordinates for each constituent point, that is, information that can identify one point on the earth.

  The storage unit 12 stores a VR model for each escalator member. Further, construction stage information, display type information, construction stage start / end date information, and order information are associated with each member. The construction stage information is information indicating at which construction stage the member is used. The display type information is information indicating whether or not to display the VR model of the member, and is information that can be appropriately changed by the user. The construction stage start date / end date information is information indicating the start date / end date of the construction stage in which the member is used. The order information is information indicating the order of construction in the construction stage where the member is used. Based on this information, the VR model in the middle of construction can be superimposed on the captured image (see FIG. 5A) before the escalator is installed (see FIG. 5B), or the escalator construction The completed VR model can be displayed in a superimposed manner (see FIG. 5C). In this embodiment, for simplicity of explanation, the escalator is composed of two members, a base portion 31 and a main body portion 32, and the construction stage includes a first construction stage for constructing the base portion, and a main body portion. It shall consist of two stages of the second construction stage (final construction stage) to be constructed.

Further, the storage unit 12 stores the following camera position information (a) and (b) for the center of gravity of the camera 2.
(a) Absolute coordinates (for example, latitude and longitude) or position information that can be converted to absolute coordinates
(b) Numerical information indicating absolute height (for example, height from the Earth ellipsoid, height from the Tokyo Bay middle tide level) or height information that can be converted into numerical values indicating absolute height The unit 12 stores three-dimensional absolute coordinates for the center of gravity of the camera 2, that is, information that can specify the center of gravity of the camera 2.
Further, the storage unit 12 stores the horizontal angle and vertical angle of the camera 2 and the zoom magnification of the camera 2 with respect to the posture of the camera 2. Since the horizontal angle and vertical angle of the camera 2 and the zoom magnification of the camera 2 are information for specifying the shooting range of the camera 2 (the range shown in the shot image), they are called shooting range specifying information. The shooting range specifying information is corrected every time the horizontal angle, vertical angle, or zoom magnification of the camera 2 is changed. This correction work may be appropriately performed by the user, or the image forming apparatus 1 may acquire such information from the camera 2 and the control unit 11 may correct the information.

  The interface unit 13 serves as a window for receiving a captured image captured by the camera 2 from the camera 2 connected via the network NW.

  The display unit 14 is configured by, for example, a liquid crystal display or the like, and a VR model is added to an operation screen when the user operates the image forming system S or the image forming apparatus 1, a captured image received from the camera 2, A superimposed image or the like on which is superimposed is displayed.

  The operation unit 15 includes, for example, a keyboard and a mouse, receives a user operation, and transmits an operation signal indicating the operation content to the control unit 11.

The control unit 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory),
It is composed of a RAM (Random Access Memory) or the like. And the control part 11 as a computer performs the process for forming a superimposed image by reading and executing the image formation application memorize | stored in the memory | storage part 12. FIG. At this time, the control unit 11 functions as an image acquisition unit, an identification unit, a forming unit, a display control unit, a calculation unit, a distance display control unit, a recognition unit, a comparison unit, and a comparison result display control unit.

[3. Superimposed image formation processing]
Next, a superimposed image forming process performed by the control unit 11 of the image forming apparatus 1 will be described with reference to FIG. FIG. 6 is a flowchart illustrating a superimposed image forming process performed by the control unit 11 of the image forming apparatus 1. Note that the superimposed image forming process starts when the user performs an operation for starting the formation of a superimposed image. At this time, it is assumed that the user selects which construction stage of which facility is to display the superimposed image. The control unit 11 switches the display type information described above according to the construction stage selected by the user.

  First, the control part 11 acquires the picked-up image which image | photographed the field | site in which the plant | facility (for example, escalator) selected by the user is installed (step S1). At this time, the control unit 11 may acquire a captured image from the camera 2 installed in the vicinity of the site, or acquire a captured image previously acquired from the camera 2 and recorded in the storage unit 12. It is good as well.

  Next, the control part 11 acquires the VR model according to the construction stage selected by the user from the memory | storage part 12 (step S2). For example, if the first construction stage is selected by the user for the construction of the escalator described above, the control unit 11 acquires a VR model representing the base portion 31 of the escalator. If the second construction stage is selected by the user, the control unit 11 acquires a VR model representing the base portion 31 and the main body portion 32 of the escalator.

Next, the control part 11 acquires the three-dimensional absolute coordinate in the two structural points which comprise the VR model acquired by the process of step S2 (step S3). At this time, the control unit 11 can select two arbitrary configuration points.

  Next, the control part 11 specifies the point which the three-dimensional absolute coordinate for two points acquired by the process of step S3 shows in the picked-up image acquired by the process of step S1 (step S4). Specifically, the control unit 11 calculates the absolute coordinates of the points (pixels) constituting the captured image based on the camera position information and the imaging range specifying information stored in the storage unit 12, and the process of step S3 The points indicated by the three-dimensional absolute coordinates for the two points acquired in step 1 are specified.

  Next, the control unit 11 forms a superimposed image by superimposing the VR model on the captured image based on the three-dimensional absolute coordinates (step S5). Specifically, the control unit 11 matches the two constituent points of the VR model corresponding to the three-dimensional absolute coordinates acquired in the process of step S3 and the two points in the captured image specified in the process of step S4. Superimpose the VR model.

  Next, the control unit 11 displays the superimposed image formed in the process of step S5 on the display unit 14 (step S6), and ends the process shown in the flowchart.

As described above, in the image forming apparatus 1, the storage unit 12 (an example of “storage unit”) stores a three-dimensional VR (Virtual Reality) model representing an escalator (an example of “railway related facility”), Three-dimensional absolute coordinates ("position information that can specify the three-dimensional absolute coordinates indicating the points where the constituent points should be located when a railway-related facility is installed" for at least two constituent points constituting the three-dimensional VR model ”And the control unit 11 (an example of“ image acquisition means ”,“ specification means ”,“ formation means ”) is a site where the facility (eg, escalator) selected by the user is installed. Is obtained, and a point corresponding to the three-dimensional absolute coordinate stored for any one of the constituent points in the obtained photographed image is identified, and the identified point and the identified point are associated. A superimposed image is formed by superimposing the three-dimensional VR model on the captured image so that the constituent points corresponding to the three-dimensional absolute coordinates coincide. In addition, the control unit 11 (an example of “display control unit”) displays the formed superimposed image on the display unit 14.

  Therefore, according to the image forming apparatus 1, a superimposed image is formed by superimposing a three-dimensional VR model (an example of “CG”) representing an escalator at an accurate position in a photographed image obtained by photographing a site where the escalator is installed. Can be displayed on the display unit 14.

  In addition, it is possible to intuitively confirm from the superimposed image whether the actual structure and the 3D VR model are misaligned in the middle of the construction. improves.

  Furthermore, since the 3D VR model is superimposed, the relationship with the existing structure becomes clear, and a reduction in design changes due to the adjustment of the current site can be expected.

  Furthermore, since the situation at the construction stage can be visually grasped before the start of construction, it can be utilized for explanation of construction outline and construction plan formulation.

  Furthermore, by using a remotely operable monitoring camera as the camera 2, it is possible to confirm the site without going to the construction site, so that it is possible to reduce the travel costs of supervisors and the like.

Furthermore, since the superimposed image of the present embodiment is formed using three-dimensional absolute coordinates, a conventional technique for forming a superimposed image (for example, an AR technique for superimposing CG based on markers installed in the field) Compared to the technology that uses GPS information for positioning when superimposing CG)
A 3D VR model can be superimposed at an accurate position. Also, compared to AR technology, there is an advantage that was made when it was not necessary to install a marker at the site.

  Furthermore, the construction supervisor can display the superimposed image formed by the image forming apparatus 1 on the display unit 14 or the display unit of another terminal device without going to the construction site. You can check the situation. In addition, the superimposed image is displayed on the terminal device held by the construction supervisor, and the superimposed image is displayed on the terminal device of the field worker, so that both persons in different places can work by telephone while referring to the superimposed image. Discuss content. When displaying the superimposed image formed by the image forming apparatus 1 on another terminal apparatus, the superimposed image data is transferred from the image forming apparatus 1 to the other terminal apparatus via the network NW, or the superimposed image is displayed. Data can be displayed by recording the data in a recording medium such as a USB (Universal Serial Bus) memory and reading the data.

  In addition, this invention is not necessarily limited to embodiment mentioned above, A various other change is possible.

[4. Modified example]
[4.1. Switch of construction stage]
In the state where the processing from step S1 to step S6 shown in FIG. 6 is executed and the overlapping image is displayed on the display unit 14, when another construction stage is selected by the user, the control unit 11 again It is good also as acquiring the VR model according to the selected construction stage (step S2), and performing the process of subsequent step S3 to step S6. In this case, the image forming apparatus 1 displays a superimposed image in which the VR model corresponding to the construction stage selected by the user is appropriately superimposed. Thereby, the user can confirm the superimposed image in arbitrary construction stages at any time. The construction stage may be designated from the construction date. When the construction date is designated by the user, the control unit 11 specifies which construction stage the construction date corresponds to based on the construction stage start date / end date information stored in the storage unit 12. The VR model of the member corresponding to the specified construction stage is acquired in the process of step S2.

[4.2.2 Distance display between points]
In addition, when the control unit 11 (an example of “calculation unit” and “distance display control unit”) specifies two points by the user in the captured image or the overlapping image, the specified two-dimensional three-dimensional absolute coordinates. And the distance between the two points may be calculated and displayed on the display unit 14. Conventionally, since CG and size information that are commonly used in general are not accurate in size and position information, it has not been possible to measure the relative positional relationship in the virtual space. Since the distance between two points can be measured based on the coordinates, a more precise distance can be measured. For example, if a building limit ruler is created with a VR model, it becomes possible to determine a limit hindrance even in a live line situation, and verification that cannot be performed in real space is also possible. In addition, the dimensions and intervals of structures during construction can be easily measured using the coordinate system in the superimposed image, and can be measured on the screen regardless of whether the train is operating, even in the train proximity area. It becomes.

[4.3. Misalignment detection function]
Further, the control unit 11 (an example of “recognition unit”, “comparison unit”, “comparison result display control unit”) is an image of an actual escalator (an example of “railway related facility”) or an escalator in the middle of construction in the superimposed image. The recognized image may be compared with the VR model superimposed on the superimposed image, and the comparison result may be displayed on the display unit 14. As a comparison result, a message such as “deviation of θ degrees from the design drawing” may be displayed, or a numerical value indicating the deviation may be simply displayed. Further, the control unit 11 may display the comparison result only when the deviation is larger than a predetermined threshold as a result of comparing the recognized image with the VR model. According to this modification, it is possible to objectively grasp the degree of deviation when there is no deviation between the actual structure and the three-dimensional VR model or when there is a deviation.

[4.4. VR model creation for infringement prohibited areas]
Furthermore, a VR model is created for the infringement prohibited area where workers and structures should not enter at the work site and is stored in the storage unit 12, and the control unit 11 superimposes the VR model on the captured image. It is good also as forming. Thereby, even if a worker or a structure enters the infringement prohibited area, the fact can be immediately grasped visually.

[4.5. Minimization of 3D absolute coordinates]
In the embodiment described above, the storage unit 12 stores the three-dimensional absolute coordinates for all the constituent points constituting the VR model. However, if the three-dimensional absolute coordinates are stored for at least two points, the captured image is stored. Since the VR model can be superimposed on the exact position of, three-dimensional absolute coordinates may be stored only for the two constituent points. Of course, three-dimensional absolute coordinates may be stored for three or more constituent points.

DESCRIPTION OF SYMBOLS 1 Image forming apparatus 11 Control part 12 Memory | storage part 13 Interface part 14 Display part 15 Operation part 2 Camera NW network

Claims (7)

A three-dimensional VR (Virtual Reality) model representing a railway-related facility, and a point where the constituent point should be located when at least two constituent points constituting the three-dimensional VR model are installed. Storage means for storing position information capable of specifying the three-dimensional absolute coordinates shown;
Image acquisition means for acquiring a captured image of the site where the railway-related facility is installed;
Specifying means for specifying a point corresponding to the three-dimensional absolute coordinate specified by the position information stored for any of the constituent points in the acquired captured image;
A superimposed image is formed by superimposing the three-dimensional VR model on the acquired captured image so that the identified point and the constituent point corresponding to the three-dimensional absolute coordinate corresponding to the identified point coincide with each other. Forming means to
An image forming apparatus comprising: The image forming apparatus according to claim 1,
An image forming apparatus, further comprising display control means for displaying a superimposed image formed by the forming means on a display unit. The image forming apparatus according to claim 1, wherein
The storage means stores the three-dimensional VR model corresponding to each construction stage of the railway-related facility,
The image forming apparatus, wherein the forming unit forms the superimposed image in which the three-dimensional VR model is superimposed according to a construction stage selected by a user. The image forming apparatus according to any one of claims 1 to 3,
Calculating means for specifying three-dimensional absolute coordinates of two points designated by a user in a captured image acquired by the image acquiring means or a superimposed image formed by the forming means, and calculating a distance between the two points; ,
An image forming apparatus, further comprising: a distance display control unit that causes the display unit to display the calculated distance between the two points. An image forming apparatus according to any one of claims 1 to 4,
Recognizing means for recognizing an image of the railway-related facility or the railway-related facility in the middle of construction in the superimposed image;
Comparison means for comparing the recognized image with the three-dimensional VR model superimposed on the superimposed image;
Comparison result display control means for displaying the comparison result on a display unit;
An image forming apparatus further comprising:   An image forming system comprising: the image forming apparatus according to claim 1; and a camera that captures the captured image. A three-dimensional VR (Virtual Reality) model representing a railway-related facility, and a point where the constituent point should be located when at least two constituent points constituting the three-dimensional VR model are installed. A computer included in an image forming apparatus including a storage unit that stores position information capable of specifying three-dimensional absolute coordinates shown;
Image acquisition means for acquiring a photographed image of the site where the railway-related facility is installed;
Specifying means for specifying a point corresponding to the three-dimensional absolute coordinate specified by the position information stored for any of the constituent points in the acquired photographed image;
A superimposed image is formed by superimposing the three-dimensional VR model on the acquired captured image so that the identified point and the constituent point corresponding to the three-dimensional absolute coordinate corresponding to the identified point coincide with each other. Forming means,
An image forming program that functions as a computer program.

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