JP2018200221A - Water bottom observation system and water bottom observation image processing program - Google Patents
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Abstract
Description
本発明は、水底観測システム及び水底観測画像処理プログラムに関し、特に、比較的浅い水域の海底や湖沼等の水底を観測する水底観測システム及び水底観測画像処理プログラムに関する。 The present invention relates to a water bottom observation system and a water bottom observation image processing program, and more particularly, to a water bottom observation system and a water bottom observation image processing program for observing the bottom of a sea such as a seabed or a lake in a relatively shallow water area.
湖沼や沿岸部の浅水域の水底を観測することにより、例えば、珊瑚礁の状態やプラスチックゴミ等の有無など環境の変化を認知することができる。 By observing the bottom of lakes and coastal shallow waters, it is possible to recognize environmental changes such as the state of coral reefs and the presence or absence of plastic debris.
水底を観測する方法としては、水面を走行移動可能に支持した音響測深機による観測方法（例えば、特許文献１参照）や、水中移動可能に曳航支持したビデオカメラによる観測方法（例えば、特許文献２参照）、水底画像情報を取得して画像処理する観測方法（例えば、特許文献３参照）等がある。 As a method of observing the bottom of the water, an observation method using an acoustic sounding instrument that supports the water surface so as to be able to travel and move (see, for example, Patent Document 1), and an observation method using a video camera that supports towing that can move underwater (for example, Patent Document 2) And an observation method (for example, refer to Patent Document 3) for acquiring water bottom image information and performing image processing.
ところで、水底の観測を行う場合、その観測対象となる水底は様々な場所に存在し、当然のことながら、離島や無人島の周辺の海域や山中の湖底なども含むこととなる。したがって、水底を観測するための観測システムは、運搬や組み立て等を容易に行うことができるものであることが望ましいことは明らかである。 By the way, when observing the bottom of the water, the bottom of the water to be observed exists in various places, and of course, it includes sea areas around remote islands and uninhabited islands and lake bottoms in mountains. Therefore, it is clear that the observation system for observing the bottom of the water is desirably one that can be easily transported and assembled.
そこで、本発明は、比較的簡易な構成で水底の観測を行うことのできる水底観測システム及び水底観測画像処理プログラムを提供することを目的とする。 Therefore, an object of the present invention is to provide a water bottom observation system and a water bottom observation image processing program capable of performing water bottom observation with a relatively simple configuration.
上述した目的を達成するため、請求項１の発明は、水上に浮遊する浮体部と支持部を介して接続され、該支持部により水中の所定の深度に固定されるとともに、前記浮体部の移動に伴って水中を移動して動画像を撮影する複数の撮影手段と、全球測位衛星システムの衛星から受信した信号に基づいて前記撮影手段の位置情報を記録する位置記録手段と、前記撮影手段が撮影した動画像と前記位置記録手段が記録した位置情報とに基づいて立体の地形図を生成する画像処理手段とを具備し、前記画像処理手段は、前記撮影手段が撮影した動画像を時間軸に沿って連続する複数の静止画像に変換する静止画変換手段と、前記静止画変換手段が変換した静止画像のブレの度合いを定量化する画像ブレ定量化手段と、前記画像ブレ定量化手段が定量化したブレの度合いに基づいて前記静止画変換手段が変換した静止画像からブレの度合いが所定の値以下の低ブレ画像を選択する低ブレ画像選択手段と、前記低ブレ画像選択手段が選択した静止画像と前記位置記録手段が記録した位置情報とに基づいて立体の地形図を生成する地形図生成手段とを具備することを特徴とする。 In order to achieve the above-mentioned object, the invention of claim 1 is connected to a floating body part floating on water via a support part, and fixed to a predetermined depth in water by the support part, and the movement of the floating body part A plurality of photographing means for moving in the water to photograph a moving image, a position recording means for recording position information of the photographing means based on a signal received from a satellite of a global positioning satellite system, and the photographing means Image processing means for generating a three-dimensional topographic map based on the captured moving image and the position information recorded by the position recording means, wherein the image processing means takes the moving image taken by the photographing means as a time axis. A still image converting means for converting to a plurality of still images continuous along the image, an image blur quantifying means for quantifying the degree of blurring of the still image converted by the still image converting means, and the image blur quantifying means, Quantification A low-blur image selection unit that selects a low-blur image with a blur degree of a predetermined value or less from the still image converted by the still image conversion unit based on the degree of blurring, and the still-blown image selected by the low-blur image selection unit And a topographic map generating means for generating a three-dimensional topographic map based on the image and the position information recorded by the position recording means.
また、請求項２の発明は、請求項１の発明において、前記撮影手段は、各々全球測位衛星システムの衛星から受信した信号に基づいて位置情報を特定する位置情報特定手段を具備し、該位置情報特定手段で動画像の撮影開始時の位置情報を特定し、該特定した位置情報を該動画像に付加し、前記画像処理手段は、前記動画像に付加された位置情報に基づいて立体の地形図を生成することを特徴とする。 According to a second aspect of the present invention, in the first aspect of the present invention, each of the photographing means includes position information specifying means for specifying position information based on a signal received from a satellite of the global positioning satellite system. The information specifying means specifies position information at the start of shooting a moving image, adds the specified position information to the moving image, and the image processing means adds a three-dimensional image based on the position information added to the moving image. A topographic map is generated.
また、請求項３の発明は、請求項１の発明において、前記撮影手段に撮影の開始を指示する同期信号を生成する同期信号生成手段をさらに具備することを特徴とする。 According to a third aspect of the present invention, in the first aspect of the present invention, the method further comprises a synchronization signal generating means for generating a synchronization signal that instructs the photographing means to start photographing.
また、請求項４の発明は、複数の撮影手段により撮影された複数の動画像の各々を時間軸に沿って連続する複数の静止画像に変換する静止画変換処理と、前記静止画変換処理で変換した静止画像のブレの度合いを定量化する画像ブレ定量化処理と、前記画像ブレ定量化処理で定量化したブレの度合いに基づいて前記静止画変換処理で変換した静止画像からブレの度合いが所定の値以下の低ブレ画像を選択する低ブレ画像選択処理と、前記低ブレ画像選択処理で選択した静止画像と全球測位衛星システムの衛星から受信した信号に基づいて生成された前記撮影手段の位置情報とに基づいて立体の地形図を生成する地形図生成処理とをコンピュータに実行させることを特徴とする。 According to a fourth aspect of the present invention, there is provided still image conversion processing for converting each of a plurality of moving images photographed by a plurality of photographing means into a plurality of still images continuous along a time axis, and the still image conversion processing. An image blur quantification process for quantifying the degree of blur of the converted still image, and a degree of blur from the still image converted by the still image conversion process based on the degree of blur quantified by the image blur quantification process. A low-blur image selection process for selecting a low-blur image of a predetermined value or less, a still image selected by the low-blur image selection process, and a signal received from a satellite of a global positioning satellite system. The computer is caused to execute topographic map generation processing for generating a three-dimensional topographic map based on the position information.
本発明によれば、比較的簡易な構成で水底の観測を行うことが可能となるため、機材の搬入等が困難な地域においても、水底の観測を行うことができる。 According to the present invention, since it is possible to observe the bottom of the water with a relatively simple configuration, it is possible to observe the bottom of the water even in a region where it is difficult to carry in equipment or the like.
以下、本発明に係る水底観測システム及び水底観測画像処理プログラムの一実施の形態について、添付図面を参照して詳細に説明する。 Hereinafter, an embodiment of a water bottom observation system and a water bottom observation image processing program according to the present invention will be described in detail with reference to the accompanying drawings.
図１は、水底観測システムの概略構成を示した図である。同図に示すように、水底観測システム１は、浮体部２と支持部３、整流部４、撮影部５、曳航部６を含んで構成される。また、図１では省略しているが、水底観測システムは、ＧＰＳ受信部と画像処理部も含んで構成される。 FIG. 1 is a diagram showing a schematic configuration of a water bottom observation system. As shown in FIG. 1, the water bottom observation system 1 includes a floating body part 2, a support part 3, a rectification part 4, a photographing part 5, and a towing part 6. Although omitted in FIG. 1, the water bottom observation system includes a GPS receiver and an image processor.
浮体部２は、水上に浮かぶもので支持部３を所定の位置に固定するとともに、曳航部６により曳航されて移動するものである。この浮体部２は、専用のものを用いることができるが、サーフボード等の汎用のものを用いることができ、例えば、観測場所の状態に合わせてサーフボードの形状やフィンの種類等を選択することで、観測時の撮影部５の動揺を低減することが可能となる。 The floating part 2 floats on the water and fixes the support part 3 at a predetermined position, and is towed and moved by the towing part 6. The floating body 2 can be a dedicated one, but a general-purpose one such as a surfboard can be used. For example, by selecting the shape of the surfboard and the type of fin according to the state of the observation place It is possible to reduce the shaking of the photographing unit 5 during observation.
支持部３は、浮体部２に接続され、観測時に撮影部５を水中に垂下して固定するもので、例えば、金属や樹脂、木材等で構成されるものである。また、支持部３は、浮体部２に接続された際に垂直方向に位置する部分の長さを可変にするか、異なる長さのものに交換することで、観測時に撮影部５が位置する水深を任意に変更することが可能である。 The support part 3 is connected to the floating body part 2 and hangs the photographing part 5 underwater during observation, and is made of, for example, metal, resin, wood, or the like. Further, when the support unit 3 is connected to the floating body unit 2, the length of the portion positioned in the vertical direction can be made variable or replaced with a different length so that the imaging unit 5 is positioned at the time of observation. It is possible to change the water depth arbitrarily.
整流部４は、布状の繊維等であり、観測時に水流を整流するものであり、観測時の撮影部５の動揺を低減する。 The rectifying unit 4 is a cloth-like fiber or the like, and rectifies the water flow at the time of observation, and reduces the shaking of the photographing unit 5 at the time of observation.
撮影部５は、観測時に水底の動画を撮影して画像データを出力するものであり、例えば、デジタルカメラ等が用いられる。また、撮影部５は、全球測位衛星システム（ＧＮＳＳ：Global Navigation Satellite System）、例えば、ＧＰＳ（Global Positioning System）衛星からの信号を受信し、撮影場所の位置情報を動画に付加することができるものである。なお、撮影部５は、複数であれば数に制限は無く、複数の撮影部５が支持部３に固定されることで、複数の撮影部５は、観測時に同一方向に略同一深度で移動することとなる。 The imaging unit 5 captures a moving image of the water bottom during observation and outputs image data. For example, a digital camera or the like is used. The photographing unit 5 can receive a signal from a global navigation satellite system (GNSS), for example, a GPS (Global Positioning System) satellite, and add position information of the photographing location to the moving image. It is. Note that the number of the imaging units 5 is not limited as long as it is a plurality, and the plurality of imaging units 5 are fixed to the support unit 3 so that the plurality of imaging units 5 move in the same direction at substantially the same depth during observation. Will be.
曳航部６は、支持部３が接続された浮体部２を曳航するもので、動力を有するボート等を利用することができる。 The towing part 6 tows the floating part 2 to which the support part 3 is connected, and a powered boat or the like can be used.
また、図示しないＧＰＳ受信部は、ＧＰＳ受信装置を含むパーソナルコンピュータやタブレット端末等の汎用のコンピュータを用いて構成される。 A GPS receiver (not shown) is configured using a general-purpose computer such as a personal computer or a tablet terminal including a GPS receiver.
また、図示しない画像処理部は、パーソナルコンピュータ等の汎用のコンピュータを用いて構成されるもので、撮影部５が出力する画像データの処理を行う。画像処理部と撮影部５は、無線または有線による通信を行って画像データの授受を行うようにしてもよく、撮影部５が生成した画像データを記憶媒体等を介して画像処理部に受け渡すようにしてもよい。 An image processing unit (not shown) is configured using a general-purpose computer such as a personal computer, and processes image data output from the photographing unit 5. The image processing unit and the photographing unit 5 may perform image data exchange by performing wireless or wired communication, and transfer the image data generated by the photographing unit 5 to the image processing unit via a storage medium or the like. You may do it.
次に、撮影部５の詳細と撮影部５による画像データの生成について説明する。図２は、画像データの生成方法を説明するための図である。 Next, details of the photographing unit 5 and generation of image data by the photographing unit 5 will be described. FIG. 2 is a diagram for explaining a method of generating image data.
同図に示すように、撮影部５は、ＧＰＳ受信部５１を有しており、動画像を撮影するとともに、ＧＰＳ信号１０に基づいてＧＰＳ受信部５１が撮影場所を特定し、特定した場所の位置情報を時刻情報とともに撮影した動画像と関連付けてデータ化して、画像データ１１（図２においては、撮影部５の数が６であるものとし、同図中では画像データ１１−１と画像データ１１−６を示し、他を省略している）として出力または記録媒体へ記録する。なお、ＧＰＳ信号１０に基づく位置情報の特定は、動画の撮影開始時に行う。 As shown in the figure, the photographing unit 5 has a GPS receiving unit 51, photographs a moving image, identifies the photographing location based on the GPS signal 10, and the location of the identified location. The position information is converted into data by associating it with the moving image taken together with the time information, and the image data 11 (in FIG. 2, the number of photographing units 5 is six. In FIG. 11-6 is shown, and others are omitted) or recorded on the recording medium. The location information based on the GPS signal 10 is specified at the start of moving image shooting.
また、撮影部５による撮影時には、別途、ＧＰＳ受信部７がＧＰＳ信号１０に基づいて撮影場所を特定し、特定した場所の位置情報を時刻情報とともに記録し、外部標定データ１２を生成する。なお、ＧＰＳ受信部７は、支持部３に固定してＧＰＳ信号を受信するようにしてもよく、曳航部６に載置してＧＰＳ信号を受信するようにしてもよい。 Further, at the time of photographing by the photographing unit 5, the GPS receiving unit 7 separately identifies the photographing location based on the GPS signal 10, records the location information of the identified location together with the time information, and generates the external orientation data 12. The GPS receiving unit 7 may be fixed to the support unit 3 to receive GPS signals, or may be placed on the towing unit 6 to receive GPS signals.
このようにして生成された画像データ１１−１等と外部標定データ１２は、画像処理部８に入力され、画像処理される。 The image data 11-1 and the like and the external orientation data 12 generated in this way are input to the image processing unit 8 and subjected to image processing.
次に、画像処理部８による画像処理について説明する。図３は、画像処理部８による画像処理を説明するための図である。 Next, image processing by the image processing unit 8 will be described. FIG. 3 is a diagram for explaining image processing by the image processing unit 8.
同図に示すように、画像処理部８は、連番静止画変換部８１と、画像ブレ定量化部８２、低ブレ画像選択部８３、３Ｄオブジェクト生成部８４を有する。このうち、連番静止画変換部８１と、画像ブレ定量化部８２、低ブレ画像選択部８３は、画像処理部８に入力される画像データ１１の数、つまり、撮影部５と同数となる複数を有する。なお、連番静止画変換部８１と、画像ブレ定量化部８２、低ブレ画像選択部８３を複数有するのは、複数の画像データ１１を並列処理する場合の例であり、複数の画像データ１１を順次処理する場合には、連番静止画変換部８１と、画像ブレ定量化部８２、低ブレ画像選択部８３は、複数である必要はない。 As shown in the figure, the image processing unit 8 includes a sequential still image conversion unit 81, an image blur quantification unit 82, a low blur image selection unit 83, and a 3D object generation unit 84. Among these, the serial number still image conversion unit 81, the image blur quantification unit 82, and the low blur image selection unit 83 have the same number as the number of image data 11 input to the image processing unit 8, that is, the number of photographing units 5. Have multiple. Note that the plurality of serial still image conversion units 81, the image blur quantification unit 82, and the low blur image selection unit 83 are examples in the case of processing a plurality of image data 11 in parallel. Are sequentially processed, it is not necessary that the serial number still image conversion unit 81, the image blur quantification unit 82, and the low blur image selection unit 83 are plural.
連番静止画変換部８１は、画像データ１１−１等の動画像を連続する静止画像に変換する。連続とは、一定の時間間隔で、その時刻順に連続するという意味である。また、変換した最初の静止画像には、変換元の動画像に関連付けられていた位置情報を関連付け、以後変換した各静止画像には、動画像の開始時刻からの経過時刻を関連付ける。 The serial number still image conversion unit 81 converts a moving image such as the image data 11-1 into a continuous still image. The term “continuous” means that it is continuous in the order of time at a constant time interval. In addition, the converted first still image is associated with position information associated with the moving image of the conversion source, and each converted still image is associated with the elapsed time from the start time of the moving image.
画像ブレ定量化部８２は、連番静止画変換部８１が変換した静止画像の画像ブレの度合いを定量化する。静止画像の画像ブレは、撮影部５の動揺等により生じるものである。静止画像の画像ブレの度合いの定量化は、例えば、静止画像を空間領域から空間周波数領域へ変換し、この変換により得られた空間スペクトルに基づいて行う。 The image blur quantification unit 82 quantifies the degree of image blur of the still image converted by the serial number still image conversion unit 81. The image blur of the still image is caused by the shaking of the photographing unit 5 or the like. For example, the degree of image blurring of a still image is quantified based on the spatial spectrum obtained by converting the still image from the spatial domain to the spatial frequency domain.
静止画像を空間領域から空間周波数領域へ変換した場合、例えば、図４（ａ）に示すようなブレのある画像を空間領域から空間周波数領域へ変換した場合には、その変換で得られる空間スペクトルは、図４（ｂ）に示すように、楕円状の模様として表わされるものとなる。 When a still image is converted from the spatial domain to the spatial frequency domain, for example, when a blurred image as shown in FIG. 4A is converted from the spatial domain to the spatial frequency domain, the spatial spectrum obtained by the conversion Is represented as an elliptical pattern, as shown in FIG.
一方、図４（ｃ）に示すようなブレの無い画像を空間領域から空間周波数領域へ変換した場合には、その変換で得られる空間スペクトルは、図４（ｄ）に示すように、正円に近い円状の模様として表わされるものとなる。 On the other hand, when a blur-free image as shown in FIG. 4C is converted from the spatial domain to the spatial frequency domain, the spatial spectrum obtained by the conversion is a perfect circle as shown in FIG. It is expressed as a circular pattern close to.
したがって、静止画像を空間領域から空間周波数領域へ変換し、変換により得られた空間スペクトルにより表わされる円状の模様の離心率を求めることで静止画像の画像ブレの度合いを定量化することができる。 Therefore, the degree of image blur of the still image can be quantified by converting the still image from the spatial domain to the spatial frequency domain and obtaining the eccentricity of the circular pattern represented by the spatial spectrum obtained by the conversion. .
なお、静止画像の画像ブレの度合いの定量化は、別の方法によって行うようにしてもよい。 Note that the quantification of the degree of image blur of a still image may be performed by another method.
低ブレ画像選択部８３は、画像ブレ定量化部８２により定量化された画像ブレの度合いに基づいて、画像ブレが所定の度合い以下の静止画像を選択する。 Based on the degree of image blur quantified by the image blur quantification unit 82, the low blur image selection unit 83 selects a still image having an image blur of a predetermined level or less.
３Ｄオブジェクト生成部８４は、低ブレ画像選択部８３が選択した画像ブレが所定の度合い以下の静止画像に基づいて３Ｄオブジェクト、つまり、立体の地形図を生成する。３Ｄオブジェクトの生成は、例えば、ＳＦＭ（structure from motion）と称するアルゴリズムを用いる。この３Ｄオブジェクトの生成にさいしては、静止画像に関連付けられている位置情報または経過時刻を用いるとともに、外部標定データ１２を用いる。 The 3D object generation unit 84 generates a 3D object, that is, a three-dimensional topographic map, based on a still image in which the image blur selected by the low blur image selection unit 83 is a predetermined degree or less. For generating the 3D object, for example, an algorithm called SFM (structure from motion) is used. In generating the 3D object, the position information or the elapsed time associated with the still image is used, and the external orientation data 12 is used.
なお、画像ブレ定量化部８２による静止画像の画像ブレの度合いの定量化の方法や３Ｄオブジェクト生成部８４による３Ｄオブジェクトの生成の方法は一例であり、他の方法により行うことも可能である。 Note that the method of quantifying the degree of image blur of a still image by the image blur quantifying unit 82 and the method of generating a 3D object by the 3D object generating unit 84 are examples, and can be performed by other methods.
実施例１では、撮影部５がＧＰＳ受信部５１を有する場合の例を説明したが、実施例２では、撮影部がＧＰＳ受信部を有さない場合の例を説明する。図５は、実施例２における画像データの生成方法を説明するための図である。 In the first embodiment, an example in which the photographing unit 5 includes the GPS receiving unit 51 has been described. In the second embodiment, an example in which the photographing unit does not include the GPS receiving unit will be described. FIG. 5 is a diagram for explaining a method of generating image data according to the second embodiment.
同図に示すように、撮影部５’は、同期信号発生部９が発生する同期信号を受信し、この同期信号の受信に応じて撮影を開始する。これにより、各撮影部５’が撮影して生成した画像データ１３（図５においては、撮影部５’の数が６であるものとし、同図中では画像データ１３−１と画像データ１３−２、画像データ１３−６を示し、他を省略している）は、全て同時刻に撮影が開始されたものとなる。 As shown in the figure, the imaging unit 5 'receives the synchronization signal generated by the synchronization signal generation unit 9, and starts imaging in response to reception of this synchronization signal. As a result, the image data 13 photographed and generated by each photographing unit 5 ′ (in FIG. 5, it is assumed that the number of photographing units 5 ′ is six. In FIG. 5, image data 13-1 and image data 13- 2, the image data 13-6 is shown and the others are omitted), all of which are shot at the same time.
同期信号発生部９が発生する同期信号は、有線や無線のいずれを用いて撮影部５’に入力するようにしてもよく、例えば、Ｗｉ−ＦｉやＢｌｕｅｔｏｏｔｈ（登録商標）規格に準じた無線を用いることで、撮影部５’の構成を簡易にすることができる。 The synchronization signal generated by the synchronization signal generation unit 9 may be input to the photographing unit 5 ′ using either wired or wireless communication. For example, the wireless signal conforming to Wi-Fi or Bluetooth (registered trademark) standards may be used. By using it, the configuration of the photographing unit 5 ′ can be simplified.
また、同期信号発生部９は、ＧＰＳ受信部９１を有し、ＧＰＳ受信部９１がＧＰＳ信号１０に基づいて撮影場所を特定し、特定した場所の位置情報を時刻情報とともに記録し、外部標定データ１３を生成する。記録する時刻情報には、同期信号を発生した時刻も含む。なお、同期信号発生部９は、支持部３に固定してＧＰＳ信号を受信するようにしてもよく、曳航部６に載置してＧＰＳ信号を受信するようにしてもよい。なお、同期信号発生部９は、ＧＰＳ受信装置を含むパーソナルコンピュータやタブレット端末等の汎用のコンピュータを用いて構成される。 The synchronization signal generator 9 has a GPS receiver 91. The GPS receiver 91 specifies a shooting location based on the GPS signal 10, records the location information of the specified location together with time information, and external orientation data. 13 is generated. The time information to be recorded includes the time when the synchronization signal is generated. The synchronization signal generation unit 9 may be fixed to the support unit 3 to receive GPS signals, or may be placed on the towing unit 6 to receive GPS signals. The synchronization signal generator 9 is configured using a general-purpose computer such as a personal computer or a tablet terminal including a GPS receiver.
このようにして生成された画像データ１３−１等と外部標定データ１２は、画像処理部８に入力され、画像処理される。 The image data 13-1 and the like and the external orientation data 12 generated in this way are input to the image processing unit 8 and subjected to image processing.
画像処理部８による画像処理は、実施例１の場合とほぼ同様であるが、連番静止画変換部８１は、画像データ１３−１等の動画像を連続する静止画像に変換する際に、変換した各静止画像には、動画像の開始時刻からの経過時刻を関連付け、３Ｄオブジェクト生成部８４は、静止画像に関連付けられている経過時刻を用いるとともに、外部標定データ１３を用いて処理を行う。 The image processing by the image processing unit 8 is almost the same as in the case of the first embodiment, but the serial number still image conversion unit 81 converts a moving image such as the image data 13-1 into a continuous still image. Each converted still image is associated with an elapsed time from the start time of the moving image, and the 3D object generation unit 84 uses the elapsed time associated with the still image and performs processing using the external orientation data 13. .
また、撮影部がＧＰＳ受信部を有さない場合の例としては、同期信号発生部９の使用に変えて、使用する全ての撮影部５’の録画開始スイッチを機械的に同時に押すように操作するようにしても良い。このような操作を行うことでも、同様の動画像を得ることができる。なお、同期信号発生部９を用いない場合には、実施例１で説明したＧＰＳ受信部７を用いることとなる。 In addition, as an example in the case where the photographing unit does not have a GPS receiving unit, instead of using the synchronization signal generating unit 9, an operation is performed so that the recording start switches of all the photographing units 5 ′ used are mechanically pressed simultaneously. You may make it do. A similar moving image can be obtained by performing such an operation. If the synchronization signal generator 9 is not used, the GPS receiver 7 described in the first embodiment is used.
１ 水底観測システム
２ 浮体部
３ 支持部
４ 整流部
５ 撮影部
５’ 撮影部
６ 曳航部
７ ＧＰＳ受信部
８ 画像処理部
９ 同期信号発生部
１０ ＧＰＳ信号
１１−１〜１１−６ 画像データ
１２ 外部標定データ
１３−１〜１３−６ 画像データ
５１ ＧＰＳ受信部
８１ 連番静止画変換部
８２ 画像ブレ定量化部
８３ 低ブレ画像選択部
８４ ３Ｄオブジェクト生成部
９１ ＧＰＳ受信部
DESCRIPTION OF SYMBOLS 1 Water bottom observation system 2 Floating body part 3 Support part 4 Rectification part 5 Image | photographing part 5 'Image | photographing part 6 Towing part 7 GPS receiving part 8 Image processing part 9 Synchronization signal generating part 10 GPS signal 11-1 to 11-6 Image data 12 External Orientation data 13-1 to 13-6 Image data 51 GPS receiver 81 Serial number still image converter 82 Image blur quantifier 83 Low blur image selector 84 3D object generator 91 GPS receiver
Claims (4)
全球測位衛星システムの衛星から受信した信号に基づいて前記撮影手段の位置情報を記録する位置記録手段と、
前記撮影手段が撮影した動画像と前記位置記録手段が記録した位置情報とに基づいて立体の地形図を生成する画像処理手段と
を具備し、
前記画像処理手段は、
前記撮影手段が撮影した動画像を時間軸に沿って連続する複数の静止画像に変換する静止画変換手段と、
前記静止画変換手段が変換した静止画像のブレの度合いを定量化する画像ブレ定量化手段と、
前記画像ブレ定量化手段が定量化したブレの度合いに基づいて前記静止画変換手段が変換した静止画像からブレの度合いが所定の値以下の低ブレ画像を選択する低ブレ画像選択手段と、
前記低ブレ画像選択手段が選択した静止画像と前記位置記録手段が記録した位置情報とに基づいて立体の地形図を生成する地形図生成手段と
を具備する
ことを特徴とする水底観測システム。 A plurality of floating bodies floating on the water are connected to and supported by the support section, fixed to a predetermined depth in the water by the support section, and moving in the water as the floating body moves to capture a moving image. Photographing means;
Position recording means for recording position information of the photographing means based on a signal received from a satellite of a global positioning satellite system;
Image processing means for generating a three-dimensional topographic map based on the moving image photographed by the photographing means and the position information recorded by the position recording means,
The image processing means includes
A still image converting means for converting the moving image taken by the photographing means into a plurality of still images continuous along the time axis;
Image blur quantifying means for quantifying the degree of blur of the still image converted by the still image converting means;
A low blur image selection unit that selects a low blur image having a blur level of a predetermined value or less from the still image converted by the still image conversion unit based on the blur level quantified by the image blur quantification unit;
A water bottom observation system comprising: a topographic map generation unit that generates a three-dimensional topographic map based on the still image selected by the low blur image selection unit and the position information recorded by the position recording unit.
前記画像処理手段は、前記動画像に付加された位置情報に基づいて立体の地形図を生成する
ことを特徴とする請求項１に記載の水底観測システム。 The photographing means includes position information specifying means for specifying position information based on signals received from the satellites of the global positioning satellite system, and the position information specifying means specifies position information at the start of moving image shooting. , Adding the specified position information to the moving image,
The water bottom observation system according to claim 1, wherein the image processing unit generates a three-dimensional topographic map based on position information added to the moving image.
前記静止画変換処理で変換した静止画像のブレの度合いを定量化する画像ブレ定量化処理と、
前記画像ブレ定量化処理で定量化したブレの度合いに基づいて前記静止画変換処理で変換した静止画像からブレの度合いが所定の値以下の低ブレ画像を選択する低ブレ画像選択処理と、
前記低ブレ画像選択処理で選択した静止画像と全球測位衛星システムの衛星から受信した信号に基づいて生成された前記撮影手段の位置情報とに基づいて立体の地形図を生成する地形図生成処理と
をコンピュータに実行させることを特徴とする水底観測画像処理プログラム。 Still image conversion processing for converting each of a plurality of moving images photographed by a plurality of photographing means into a plurality of still images continuous along a time axis,
Image blur quantification processing for quantifying the degree of blurring of the still image converted by the still image conversion processing;
A low-blur image selection process for selecting a low-blur image whose degree of blur is a predetermined value or less from the still image converted by the still-image conversion process based on the blur degree quantified by the image blur quantification process;
A topographic map generation process for generating a three-dimensional topographic map based on the still image selected in the low blur image selection process and the position information of the photographing means generated based on a signal received from a satellite of a global positioning satellite system; Water bottom observation image processing program characterized by causing a computer to execute.
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