JP2016139172A5

JP2016139172A5 -

Info

Publication number: JP2016139172A5
Application number: JP2015012131A
Authority: JP
Filing date: 2015-01-26
Publication date: 2018-02-22
Anticipated expiration: 2035-01-26

Description

この発明に係る空港監視装置は、
所定の目標物体を含む空港面を撮影して当該空港面の画像信号を出力する撮像手段と、
上記撮影された画像の画像信号から上記目標物体を検出する目標物体検出手段と、
上記目標物体の輪郭データである所定のエッジモデルを用いて上記検出した目標物体を
上記空港面において位置合わせを行って、位置合わせ結果の画像信号を出力する位置合わ
せ手段と、
上記位置合わせ結果の画像信号に基づいて、上記目標物体の上記撮像手段で撮影された画像上の上記空港面との接地点の座標を推定し、上記接地点の座標を地図上の位置座標へ座標変換することで、上記目標物体の上記地図上の位置座標を算出する位置推定手段とを備えることを特徴とする。 The airport monitoring device according to the present invention is
Imaging means for photographing an airport surface including a predetermined target object and outputting an image signal of the airport surface;
Target object detection means for detecting the target object from the image signal of the captured image;
Alignment means for aligning the detected target object on the airport surface using a predetermined edge model, which is contour data of the target object, and outputting an image signal of the alignment result;
Based on the image signal of the alignment result, the coordinates of the contact point of the target object with the airport plane on the image captured by the imaging unit are estimated, and the coordinates of the contact point are converted to the position coordinates on the map. And a position estimating means for calculating a position coordinate of the target object on the map by performing coordinate conversion .

図１に示すように、実施の形態１では、カメラ１で目標物体である航空機を含む空港面
を撮影し、このカメラ１から得られる画像の画像信号を用いて、航空機を検出する。そし
て、検出された航空機の領域に対して、予め作成しておいた航空機のエッジモデルを当て
はめる。最後に、航空機が路面上と接地する座標から地図上への位置座標へ変換し、航空
機の推定位置の検出結果を出力する。以下、図２を参照して、実施の形態１に係る空港監
視装置について詳細説明する。 As shown in FIG. 1, in the first embodiment, an airport surface including an aircraft that is a target object is photographed with a camera 1, and an aircraft is detected using an image signal of an image obtained from the camera 1. Then, an aircraft edge model prepared in advance is applied to the detected aircraft area. Finally, converted from coordinates aircraft ground on a road surface to the position coordinates on the map, and outputs a detection result of the estimated position of the aircraft. Hereinafter, the airport monitoring apparatus according to the first embodiment will be described in detail with reference to FIG.

次いで、位置推定部４は、２次元エッジモデルによる精密位置合わせ部３の位置合わせ
結果の画像と、空港面３Ｄデータメモリ５に予め格納された空港面３Ｄデータを用いて、
位置合わせされた航空機の位置について地図上の座標を算出する。位置推定部４は、２次
元エッジモデルによる精密位置合わせ部３からの位置合わせ結果の画像から、航空機に関
する、画像上の空港面との接地点を推定する。次いで、画像上の空港面での航空機の位置
座標を、空港面３Ｄデータへの位置座標へ座標変換することで、地図上の位置座標を算出
する。この算出結果を結果表示部６に転送して表示する。結果表示部６は、カメラ１で撮
影した画像に目標物体検出部２で得られた目標物体である航空機の位置の画像と、位置推
定部４で推定した航空機の地図上の位置を地図へ描画する。 Next, the position estimation unit 4 uses the image of the alignment result of the precise alignment unit 3 based on the two-dimensional edge model and the airport surface 3D data stored in advance in the airport surface 3D data memory 5.
Calculate the coordinates on the map for the position of the aligned aircraft. The position estimation unit 4 estimates a ground contact point with the airport plane on the image regarding the aircraft from the image of the alignment result from the precise alignment unit 3 using the two-dimensional edge model. Next, the position coordinate on the map is calculated by converting the position coordinate of the aircraft on the airport plane on the image into the position coordinate on the airport plane 3D data. The calculation result is transferred to the result display unit 6 and displayed. The result display unit 6 draws the image of the position of the aircraft as the target object obtained by the target object detection unit 2 on the image captured by the camera 1 and the position on the map of the aircraft estimated by the position estimation unit 4 on the map. To do.

実施の形態２に係る空港監視装置は、カメラ１で目標物体である航空機を含む空港面を
撮影し、このカメラ１から得られる画像の画像信号を用いて、航空機の領域を検出する。
そして、検出された航空機の領域に対して、３次元エッジモデルから２次元エッジモデル
を作成し航空機のエッジモデルを当てはめる。最後に、航空機が空港面の路面上と接地する座標から地図上への位置座標へ変換し、検出結果を出力する。 The airport monitoring apparatus according to the second embodiment captures an airport surface including an aircraft as a target object with the camera 1, and detects an area of the aircraft using an image signal of an image obtained from the camera 1.
Then, a two-dimensional edge model is created from the three-dimensional edge model for the detected aircraft region, and the aircraft edge model is applied. Finally, converted from coordinates aircraft ground on a road surface of airport surface to the position coordinates on the map, and outputs a detection result.

実施の形態３では、カメラ１で目標物体である航空機を含む空港面を撮影し、このカメ
ラ１から得られる画像を用いて、航空機の点光源群を検出する。そして、検出された点光
源群に対して、予め作成しておいた航空機のライトモデルを当てはめる。最後に、航空機
が路面上と接地する座標から地図上への位置座標へ変換し、航空機の位置座標の検出結果
を出力する。 In the third embodiment, an airport surface including an aircraft as a target object is photographed with the camera 1, and a point light source group of the aircraft is detected using an image obtained from the camera 1. Then, an aircraft light model prepared in advance is applied to the detected point light source group. Finally, converted from coordinates aircraft ground on a road surface to the position coordinates on the map, and outputs a detection result of the position coordinates of the aircraft.

以上の処理により、精密な位置合わせを行い、２次元ライトモデルに含まれる航空機と、空港面の路面の接地位置を位置推定部４に転送し、結果表示部６には航空機の領域とラ
イトモデルに含まれる航空機と路面の接地位置を転送して表示する。 Through the above processing, precise alignment is performed, and the aircraft included in the two-dimensional light model and the ground contact position on the road surface of the airport surface are transferred to the position estimation unit 4. The result display unit 6 displays the aircraft region and the light model. Transfer and display the aircraft and the ground contact position on the road.

実施の形態４では、カメラ１で目標物体である航空機を含む空港面を撮影し、このカメ
ラ１から得られる画像を用いて、航空機の点光源群を検出する。そして、検出された航空
機の点光源群に対して、３次元エッジモデルから２次元エッジモデルを作成し航空機のエ
ッジモデルを当てはめる。最後に、航空機が路面上と接地する座標から地図上への位置座
標へ変換し、航空機の位置の検出結果を出力する。
In the fourth embodiment, an airport surface including an aircraft that is a target object is photographed with the camera 1, and a point light source group of the aircraft is detected using an image obtained from the camera 1. Then, a two-dimensional edge model is created from the three-dimensional edge model for the detected point light source group of the aircraft, and the edge model of the aircraft is applied. Finally, converted from coordinates aircraft ground on a road surface to the position coordinates on the map, and outputs a detection result of the position of the aircraft.

Claims

Imaging means for photographing an airport surface including a predetermined target object and outputting an image signal of the airport surface;
A target object detection means for detecting the target object from an image signal of the upper-outs image,
Using the predetermined edge model that is the contour data of the target object, the detected target object is aligned within the area of the target object detected by the target object detecting means, and an image signal of the alignment result is output. Alignment means to perform,
Based on the image signal of the alignment result, the coordinates of the contact point of the target object with the airport plane on the image captured by the imaging unit are estimated, and the coordinates of the contact point are converted to the position coordinates on the map. An airport monitoring apparatus comprising: position estimating means for calculating position coordinates of the target object on the map by performing coordinate conversion .

The airport monitoring apparatus according to claim 1 , further comprising display means for displaying a detection result of the detected target object and a position of the estimated target object.

Said edge model, airport surveillance apparatus according to claim 1 or 2, characterized in that the contour data of the target object on the two-dimensional image is a two-dimensional edge model

It said edge model, airport surveillance apparatus according to claim 1 or 2, characterized in that a three-dimensional edge model is the contour data of a target object in the three-dimensional image.

Imaging means for photographing an airport surface including a point light source of a predetermined target object and outputting an image signal of the airport surface;
A light source detecting means that detects the point light source of the target object from an image signal of the upper-outs image,
Alignment means for aligning the detected point light source of the target object on the airport surface using a predetermined light model that is position data of the point light source of the target object, and outputting an image signal of the alignment result; ,
Based on the image signal of the alignment result, the coordinates of the contact point of the target object with the airport plane on the image captured by the imaging unit are estimated, and the coordinates of the contact point are converted to the position coordinates on the map. An airport monitoring apparatus comprising: position estimating means for calculating position coordinates of the target object on the map by performing coordinate conversion .

6. The airport monitoring apparatus according to claim 5 , further comprising display means for displaying a detection result of the point light source of the detected target object and a position of the estimated target object.

The write model airport surveillance apparatus according to claim 5 or 6, characterized in that a two-dimensional light model is the position data of the point source of the target object on the two-dimensional image.

The write model airport surveillance apparatus according to claim 5 or 6, characterized in that a three-dimensional light model is the position data of the point source of the target object in the three-dimensional image.

The airport monitoring apparatus according to claim 1, wherein the target object is an aircraft.