JP2021022210A - Image processing system - Google Patents

Abstract

To provide an image processing system for image information.SOLUTION: An image processing system 1 includes a display processing unit 13 which images a road surface in adjacent ranges including a curved section, and displays first image information and second image information so that a second area in the first image information may be located next to the second image information, on the basis of a first area and the second area specified in the first image information and the second image information. A part or all of an imaging range of the second area in the first image information is included in a part or all of an imaging range of the first area in the second image information. The display processing unit 13 executes display processing in a first display mode of displaying the first image information and the second image information, and a second display mode of displaying the first image information and second image information which are expanded or contracted so that the length of image information in a unit distance may be uniform.SELECTED DRAWING: Figure 1

Description

The present invention relates to an image processing system for image information obtained by photographing a road surface.

Since unevenness on the runway or road surface of an airport may lead to an accident, it is important from the viewpoint of road surface management to detect the presence or absence of abnormalities on the road surface, especially on unevenness. Therefore, it has been conventionally practiced to detect the unevenness of the road surface by mounting a predetermined device on a vehicle traveling on a road or the like and photographing the road surface.

For example, as described in Patent Documents 1 and 2 below, the road surface is irradiated with slit light, and the unevenness of the road surface is detected by photographing the road surface. By using these, it is possible to detect the unevenness of the road surface to a certain extent.

Japanese Unexamined Patent Publication No. 4-291195 JP-A-59-80501

In the case of the method of obtaining image information by photographing the road surface as in these inventions, it is required to photograph the entire range of the target road surface without omission. Therefore, it is conceivable that cones (pylons) equipped with LEDs as guides are placed on both sides of the route (course) on which the vehicle travels, and the vehicle travels along the cones (pylons). In addition, there is a car navigation system as a system that guides the route to be traveled, and it is conceivable to travel along the guide of the car navigation system.

However, when the cone is placed, it is not possible to photograph the road surface on the extension line of the cone, so if there is an abnormality in the road surface on the extension line, it cannot be detected. When shooting a road surface that is an extension of the cone, it is necessary to shift the cone before shooting, but it is a significant workload such as re-installing the cone, reshooting, and aligning the captured image information. Occurs.

Even when a car navigation system is used, when a person drives a vehicle, or when the vehicle is automatically driven, some fluctuations occur in the left-right direction (crossing direction).

When the road surface to be photographed is a runway, the width in the crossing direction is long, so it is not possible to photograph the entire left and right sides of the runway in one run. Will be done. This is schematically shown in FIG. In FIG. 26, for simplification, the runway is divided into two courses, and the state in which the runway 1 and the course 2 are run once is schematically shown, but the actual crossing direction of the runway is shown. The width is wider than this and is generally divided into 3 or more courses. The shaded areas in FIG. 26 are added to make it easier to understand the relationship between the lanes.

When the vehicle travels on the course and photographs the road surface of the runway as shown in FIG. 26, and when the entire runway is displayed as image information, the vehicle travels on the course 1 as shown in FIG. It is necessary to align the image information of lane 1, which is an area to be photographed, with the image information of lane 2, which is an area to be photographed by traveling on the course 2, in the transverse direction. The course is the area where the vehicle is scheduled to travel (or the trajectory where the center of the vehicle is scheduled to pass), and the lane is the area of the road surface where the vehicle must travel on the course. When the vehicle ideally travels on the course, the center position in the crossing direction of the course and the center position in the crossing direction of the lane match. The boundary of the course is the boundary of the lane.

That is, the corresponding points A', B', and C'in the image information of the lane 2 corresponding to the points A, B, and C in the image information of the lane 1 are specified, and the image information is synthesized based on the specified corresponding points. Do. Then, the corresponding points are specified by using techniques such as optical flow and local features. The corresponding points identified in this way are paired as in AA', BB', and CC'in FIG. 27, and a triangular region including these is set. The points such as D, E, F, and G are the points specified from the corresponding points with the images of other lanes. The image information of each lane is arranged at a position where the center lines are the distances between the lanes, and at the same time, the image information of the area included in each triangle so that all the corresponding points match (the corresponding points overlap at the midpoint). Is affine-transformed, and image information is combined. At this time, the image information on the lower side of ABC and the upper side of A'-B'-C'in FIG. 28 is discarded.

In this way, a series of processes requires a huge amount of time because it is necessary to search for a large number of corresponding points for the image information of the two lanes and to perform affine transformation of the image information in a small area based on the result. Therefore, it is not suitable for use situations where you want to see the results of shooting immediately.

In addition, no consideration was given to the display format when the road surface to be photographed is curved.

Therefore, in view of the above problems, the present inventor has invented an image processing system in which image information is not lost even if fluctuations occur in the transverse direction during shooting. We also invented an image processing system that allows you to check the results of shooting immediately if you want to see them immediately. Furthermore, we have invented an image processing system that enables display formats for objects to be photographed including curved parts.

The first invention is an image processing system for the first image information and the second image information obtained by photographing road surfaces in an adjacent range including a curved portion, and the image processing system is the same as the first image information. Based on the first region and the second region specified in the second image information, the second region in the first image information is located next to the second image information. It has a display processing unit that displays the first image information and the second image information, and a part or all of the photographing range of the second region in the first image information is the first. It is included in a part or all of the shooting range of the first region in the second image information, and the display processing unit has the first display format for displaying the first image information and the second image information. , An image processing system that performs display processing in a second display format that displays the first image information and the second image information that are expanded and contracted so that the length of the image information between unit distances is constant. ..

With the configuration as in the present invention, even if fluctuations occur in the transverse direction during photographing, no omission of image information occurs. In addition, since it is not necessary to perform complicated composition processing of image information as in the conventional case, it is possible to display image information by simple processing without requiring processing time. Furthermore, even when a curved road surface is photographed, abnormalities such as unevenness can be confirmed in the first display format with the same size as the actual size, and in the second display format, they are adjacent to each other. Since the deviation of the matching image information in the crossing direction is reduced, it is possible to easily confirm the entire image of the abnormality such as unevenness existing across the image information.

The second invention is an image processing system for the first image information and the second image information obtained by photographing adjacent ranges of an object to be imaged, and the image processing system is the first image information and the first image information. Based on the first region and the second region specified in the second image information, the second region in the first image information is located next to the second image information. It has a display processing unit that displays the image information of 1 and the second image information, and a part or all of the photographing range of the second region in the first image information is the second image information. This is an image processing system included in a part or all of the shooting range of the first region in the image information.

With the configuration as in the present invention, even if fluctuations occur in the transverse direction during photographing, no omission of image information occurs. In addition, since it is not necessary to perform complicated composition processing of image information as in the conventional case, it is possible to display image information by simple processing without requiring processing time.

In the above-described invention, the display processing unit and the first image information so that the second region of the first image information is located next to the second region of the second image information. It can be configured like an image processing system that displays the second image information.

By displaying the first image information and the second image information so that the second regions are located next to each other in this way, it is not possible to overlook abnormalities such as unevenness near the respective boundaries.

In the above-described invention, the display processing unit further comprises the first image so that the first region of the first image information is located next to the first region of the second image information. It can be configured like an image processing system that displays information and the second image information.

By displaying the first image information and the second image information so that the second areas are located next to each other, it is possible to reduce the oversight of abnormalities such as unevenness near the boundary, but the vicinity of the boundary is Visibility may be affected, such as overlapping display or the overall proportions being corrupted. Then, in a scene such as determining a position to be viewed in detail from the entire object to be photographed, it is preferable to display the image information in a wider range in terms of work efficiency. Therefore, as in the present invention, the convenience of the user can be improved by displaying the first image information and the second image information so that the first areas are located next to each other.

In the above-described invention, the display processing unit further increases the first image information so that the second region of the first image information is located next to the second region of the second image information. The first region of the first image information and the display format for displaying the second image information and the second image information so that the first region of the first image information is located next to the first region of the second image information. The display format for displaying the image information and the second image information can be configured like an image processing system that can be switched.

By making it possible to switch between the two display formats as in the present invention, the user can switch the display according to the purpose, and thus the convenience of the user can be improved.

In the above-described invention, the display processing unit can be configured like an image processing system that displays the first region and the second region in a distinguishable manner.

In the above-described invention, the display processing unit can be configured like an image processing system that displays the first image information and the second image information in a distinguishable manner.

When the object to be photographed is, for example, a road surface, it is characterized by being paved with asphalt, and it is difficult to distinguish the area and the image information. Therefore, as in these inventions, different areas and different image information can be distinguished. It should be displayed as.

The eighth invention is an image processing system for the first image information and the second image information obtained by photographing adjacent ranges of an object to be photographed, and the image processing system is the first image information and the first image information. A first region and a second region are specified for the second image information, a region outside the second region is trimmed to generate detailed image information, and a region outside the first region is generated. It has an image information processing unit that trims and generates wide area image information, and a display processing unit that performs image information display processing, and the display processing unit has the details based on the first image information. The image information and the detailed image information based on the second image information are displayed so as to be located next to each other, and the wide area image information based on the first image information and the wide area image based on the second image information are displayed. It is an image processing system that displays information so that it is located next to it.

With the configuration as in the present invention, even if fluctuations occur in the transverse direction during photographing, no omission of image information occurs. In addition, since it is not necessary to perform complicated composition processing of image information as in the conventional case, it is possible to display image information by simple processing without requiring processing time.

A ninth invention is an image processing system for first image information and a second image information obtained by photographing road surfaces in an adjacent range including a curved portion, and the image processing system is the same as the first image information. A first display format for displaying the second image information, and a second display format for displaying the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. It is an image processing system having a display processing unit that performs display processing according to the display format.

With the configuration as in the present invention, even when a curved road surface is photographed, abnormalities such as unevenness can be confirmed in the first display format with the same size as the actual size. In the second display format, the deviation of adjacent image information in the crossing direction is reduced, so that the entire image of anomalies such as irregularities existing across the image information can be easily confirmed.

In the above-described invention, the display processing unit can be configured like an image processing system in which the positional relationship of the corresponding unit distances can be identifiable in the first display format.

In the first display format, the size of the image information is not expanded or contracted, so that the length of the image information differs between the inside and the outside of the curved portion. Therefore, by configuring as in the present invention, the positional relationship of the unit distance can be easily recognized.

In the above-described invention, the display processing unit can be configured like an image processing system in which the first display format and the second display format can be switched.

In the first display format, since the size of the image information is not expanded or contracted, the image information inside or outside the curved portion is close to the actual size. Therefore, even if there is an abnormality such as unevenness, there is an advantage that there is little error measured from the image information. On the other hand, in the second display format, the deviation between the first image information and the second image information in the crossing direction is reduced, so that when confirming the entire image of an abnormality such as unevenness existing near the boundary from the image information. Is beneficial. Therefore, by making it possible to switch between them, the user can select an appropriate display format according to the purpose, and the convenience of the user can be improved.

The image processing system of the first invention can be realized by loading and executing the program of the present invention in a computer. That is, it is an image processing program for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion, and the image processing program uses the computer as the first image information and the first image information. Based on the first region and the second region specified in the second image information, the second region in the first image information is located next to the second image information. It functions as a display processing unit that displays the first image information and the second image information, and a part or all of the shooting range of the second region in the first image information is the second image. It is included in a part or all of the shooting range of the first region in the information, and the display processing unit has the first display format for displaying the first image information and the second image information, and a unit distance. This is an image processing program that performs display processing in a second display format that displays the first image information and the second image information that are expanded and contracted so that the length of the image information between them becomes constant.

The image processing system of the second invention can be realized by loading and executing the program of the present invention in a computer. That is, it is an image processing program for the first image information and the second image information in which the adjacent ranges of the objects to be photographed are photographed, and the image processing program uses the computer as the first image information and the second image information. Based on the first region and the second region specified in the image information of the above, the first region of the first image information is located next to the second image information. It functions as a display processing unit that displays the image information of the above and the second image information, and a part or all of the shooting range of the second region in the first image information is in the second image information. This is an image processing program included in a part or all of the shooting range of the first region.

The image processing system of the eighth invention can be realized by loading and executing the program of the present invention in a computer. That is, it is an image processing program for the first image information and the second image information obtained by photographing the adjacent ranges of the objects to be photographed, and the image processing program uses the computer as the first image information and the second image information. The first region and the second region are specified with respect to the image information of the above, the region outside the second region is trimmed to generate detailed image information, and the region outside the first region is defined. It functions as an image information processing unit that trims to generate wide area image information and a display processing unit that performs image information display processing, and the display processing unit performs the detailed image information based on the first image information and the first. The detailed image information based on the image information of 2 is displayed so as to be located next to each other, and the wide area image information based on the first image information and the wide area image information based on the second image information are next to each other. It is an image processing program that displays as it is located.

The image processing system of the ninth invention can be realized by loading and executing the program of the present invention in a computer. That is, it is an image processing program for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion, and the image processing program uses the computer as the first image information and the first image information. A first display format for displaying the second image information, and a second display for displaying the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. It is an image processing program that functions as a display processing unit that performs display processing according to the format.

By using the present invention, it is possible to realize an image processing system in which image information is not lost even if fluctuations occur in the transverse direction during photographing. We also invented an image processing system that allows you to check the results of shooting immediately if you want to see them immediately.

It is a block diagram which shows typically an example of the whole structure of the image processing system of this invention. It is a block diagram which shows typically an example of the hardware composition of the computer used in the image processing system of this invention. It is a flowchart which shows an example of the processing process of image information processing in the image processing system of this invention. It is a flowchart which shows an example of the processing process of detailed image information in the image processing system of this invention. It is a flowchart which shows an example of the processing process of wide area image information in the image processing system of this invention. It is a side view when the moving body mounting device for measuring the image information and the position information to be processed by the image processing system of this invention is attached to a vehicle. It is a rear view when the moving body mounting device for measuring the image information and the position information to be processed by the image processing system of this invention is attached to a vehicle. It is a block diagram which shows typically an example of the structure of the mobile body mounting apparatus. It is a figure which shows the relationship between the photographing by the photographing apparatus and the irradiation of light by an illuminating apparatus. It is a figure which shows typically the expansion / contraction processing which adjusts expansion / contraction of photographed image information. It is a figure which shows typically the shearing deformation processing with respect to photographed image information. It is a figure which shows typically the case where the road surface of a runway is divided into courses, and a moving body runs on each course and takes a picture by a moving body mounting device. It is a figure which shows typically the state which arranged the image information of the lane photographed by running the course written by a moving body in time series so that the position information corresponds. An example of a state in which the lane line and the margin line are specified and displayed in the captured image information is shown. An example of detailed image information is shown. An example of wide area image information is shown. It is a figure which shows the correction of the position information schematically. It is a figure which shows an example in the case of performing the detailed display processing. It is a figure which shows an example in the case of performing a wide area display processing. It is a figure which shows an example of the display screen. It is a figure which shows an example which displays as wide area image information in the display area B of a display screen. It is a figure which shows an example which displays as detailed image information in the display area C of a display screen. It is a figure which shows an example of the course when there is a curved part. It is a figure which shows typically an example of the display of the photographed image information of a lane in an actual distance display mode. It is a figure which shows typically an example of the display of the photographed image information of a lane in a kilometer post display mode. It is a figure which shows typically the case where the road surface to be photographed is divided into a course, and a moving body travels on each course and photographs the road surface. It is a figure which shows typically the process of specifying the corresponding point of the adjacent image information in the image information composition process. It is a figure which shows typically the process of synthesizing image information by affine transformation of the image information of the region included in each triangle which all corresponding points match in the image information composition process.

FIG. 1 shows a block diagram of an example of the overall configuration of the image processing system 1 of the present invention. Further, FIG. 2 shows a block diagram of an example of the hardware configuration of the computer used in the image processing system 1 of the present invention.

The image processing system 1 associates the image information (photographed image information) captured by the mobile body mounting device 2 described later with the measured position information, and executes the display processing. Further, the image processing system 1 records each information photographed and measured by the mobile body mounting device 2 in the recording device 23, and executes processing based on the information recorded therein. The processing of the image processing system 1 is realized by a computer such as a portable communication terminal such as a smartphone or a tablet computer in addition to a server or a personal computer.

The computer includes an arithmetic unit 70 such as a CPU that executes arithmetic processing of a program, a storage device 71 such as a RAM or a hard disk that stores information, a display device 72 such as a display, and an input device 73 that inputs information. It has a communication device 74 for communicating the processing result of the arithmetic unit 70 and the information stored in the storage device 71. When the computer is provided with a touch panel display, the display device 72 and the input device 73 may be integrally configured. Touch panel displays are often used, for example, in portable communication terminals such as tablet computers and smartphones, but are not limited thereto.

The touch panel display is a device in which the functions of the display device 72 and the input device 73 are integrated in that input can be performed directly on the display with a predetermined input device (such as a pen for a touch panel) or a finger.

The computer of the image processing system 1 may be one computer, or its function may be realized by a plurality of computers. The computer in this case may be, for example, a cloud server.

Each means in the image processing system 1 of the present invention is only logically distinguished in its function, and may form the same area physically or substantially.

The image processing system 1 preferably executes processing based on image information captured by the mobile body mounting device 2, but is not limited thereto.

The mobile body mounting device 2 is a device mounted on a moving body such as a vehicle C traveling on a road surface, and there are at least one or more photographing devices 20 for photographing the road surface and two or more photographing devices 20. A synchronization device 22 that synchronizes each photographing device 20 to perform photographing, a position information measuring device 21 that measures position information, and a photographed image information photographed by the photographing device 20 and a shooting time and position information measuring device 21. It has a recording device 23 that records the location information and the time.

6 and 7 show an example of the vehicle C as a moving body equipped with the moving body mounting device 2. FIG. 6 is a side view of the vehicle C equipped with the mobile body mounting device 2, and FIG. 7 is a rear view of the vehicle C equipped with the mobile body mounting device 2. Further, FIG. 8 shows an example of the configuration of the mobile body mounting device 2 in a block diagram.

The photographing device 20 is a device for photographing a road surface on which a moving body moves, and includes at least one or more. Note that FIGS. 6 and 7 show a case where two photographing devices 20 are provided. As the photographing device 20, a line sensor can be preferably used, but the imaging device 20 is not limited thereto. The line sensor captures the road surface condition on a line-by-line basis. For example, every time the vehicle moves 1 mm, a 1 mm road surface is photographed. A range finder may be used to detect the travel distance. That is, by detecting the movement of 1 mm with the range finder, the photographing device 20 takes an image. The line sensor has a lens and a line sensor element. The lens of the line sensor is directed toward the road surface so that the road surface can be photographed. The line sensor forms an image of the road surface on the line sensor element with a lens, converts the amount of light into a video signal, and outputs it as image information. Each image information taken by the line sensor is 1 mm of image information. Therefore, the line sensor connects image information for a predetermined unit number of images (for example, 1000 images) and records the image information as one image information in the recording device 23 described later. The image information for the number of units is used as the captured image information (or frame).

When the photographing device 20 starts photographing the road surface, the position information measuring device 21 sends a measurement start command to the photographing device 20 using a predetermined PPS signal. The photographing device 20 that has received this command starts photographing and resets the built-in timing means to "0" to start timing. Then, when a predetermined number of units, for example, 1000 images, are photographed by the photographing apparatus 20, the time (relative time) measured by the timing means is recorded in association with the photographed image information. Then, the timekeeping means continues the timekeeping as it is, and records the time at the time when the image information for the next unit number is taken in association with the taken image information. This is repeated until the shooting is completed. That is, each time the photographing device 20 captures a unit number of image information, the time (relative time) measured by the timing means is recorded and recorded in association with the captured image information. The time required to capture each unit of image information can be calculated by calculating the difference in the relative time recorded in association with the captured image information. Since the timing of starting shooting with the photographing device 20 and the timing of acquiring the position information and the time information with the position information measuring device 21 are synchronized in this way, the time information for each photographed image information is the position. It can be calculated by adding the above-calculated time to the position information acquired by the information measuring device 21. The time information for each captured image information may be calculated at the time of processing of the image information processing unit 10 described later, or may be performed when the photographing device 20 records the photographed image information on the recording device 23. It can be done at the timing.

To record the time required to shoot the image information of the above-mentioned unit number, the time required to shoot each unit number is timed by a timekeeping means, and the shooting order of the shot image information is recorded in association with each other. It may be, or it may be another method.

When a normal optical camera or the like is used instead of the line sensor as the photographing device 20, the photographed image information is the photographed image information, and the time information for each photographed image information should be recorded. Just do it.

The mobile body mounting device 2 includes a synchronization device 22 when there are two or more photographing devices 20. The synchronization device 22 photographs the road surface by synchronizing the imaging timings of at least two or more imaging devices 20 in the mobile body mounting device 2.

The position information measuring device 21 is, for example, a GPS device, which measures the position information and acquires the time information. For example, latitude and longitude are preferable as the position information, but the position information is not limited thereto. The position information and time information measured by the position information measuring device 21 are recorded in the recording device 23 described later. As the position information measuring device 21, a high-precision GPS receiver, for example, "Hemishere A101" or the like can be used.

The position information measuring device 21 acquires position information and time information at regular timing intervals. For example, position information and time information are acquired at timings such as 10 times per second and 20 times per second.

The recording device 23 records the photographed image information photographed by the photographing device 20 and the position information measured by the position information measuring device 21. The recording device 23 may be provided on the mobile body as a part of the mobile body mounting device 2, or may be provided outside the mobile body by using a cloud server or the like.

The mobile body mounting device 2 may be mounted on the mobile body in any way, and may be mounted on the rear side of the mobile body, for example, as shown in FIGS. 6 and 7, but is not limited thereto. For example, it may be attached to the front of the moving body. The photographing device 20 is located behind the rear end portion of the moving body, and photographs the road surface from above. The photographing device 20 is installed near the rear end portion of the metal mounting beam 26 (support) mounted on the roof carrier 40 or the like of the moving body.

A position information measuring device 21 is mounted in the vicinity of the mounting location of the photographing device 20 in the mounting beam 26.

A support column 25a projects downward from the vicinity of the photographing device 20 of the mounting beam 26 toward the road surface side, and is joined near the upper end portion of the lighting device 24. Further, the lighting device 24 is joined to the columns 25b and 25c protruding upward from the lighting support base 27 provided on the lower rear end side of the moving body, respectively. The columns 25b are joined near the bottom of the lighting device 24, and the columns 25c are joined near the top of the lighting device 24. The method of supporting the lighting device 24 may be any method.

The lighting device 24 irradiates the road surface with parallel light or light close to parallel light by a light source such as an LED. The illuminating device 24 irradiates the road surface with light close to parallel light in order to illuminate the road surface so as to form a clear and homogeneous shadow against the deformation of the road surface. Therefore, an LED having high directivity is preferable as the light source, but the light source is not limited thereto. If the angle of irradiating the parallel light is close to horizontal, the shadow becomes too large, and if it is close to vertical, no shadow is generated. Therefore, it is preferable to irradiate the lighting device 24 at a constant angle with respect to the road surface. The direction of inclination may be adjusted to the characteristics of the road surface to be photographed. FIG. 9 shows the relationship between the photographing by the photographing device 20 and the irradiation of light by the lighting device 24. FIG. 9A is a diagram showing the relationship between photographing by the photographing device 20 from the rear of the moving body and irradiation of light by the lighting device 24, and FIG. 9B is a drawing taken by the photographing device 20 from the side of the moving body. It is a figure which shows the relationship with the irradiation of light by a lighting apparatus 24. The interval A of the photographing device 20 depends on the range in the width direction to be photographed, the positional relationship of the height at which the photographing device 20 is attached, and the angle of view of the photographing device 20, but for example, the photographing width is about 260 cm, and the photographing device 20 is set. Assuming that the distance from the road surface is about 140 cm and the angle of view of the photographing device 20 is about 90 degrees, the distance A between the photographing devices 20 is preferably about 10% of the distance to the road surface, for example, about 14 cm.

The relationship between the above dimensions and each angle is an example, and the dimensions and the angles may be adjusted so as to have a suitable relationship with each other.

Further, in front of the moving body, a projection device 30 that projects the traveling direction of the moving body onto the road surface is provided. The moving body is provided with a management computer (not shown), and guide information (guide information indicating a traveling route (course) to be traveled by the moving body) specified by the management computer is projected from the projection device 30. For the processing in the management computer and the processing of projecting the guide information from the projection device 30, for example, the technique described in JP-A-2017-090189 can be used, but the processing is not limited thereto.

The management computer (not shown) can be realized by, for example, the following processing. The latitude, longitude information, and traveling direction information are acquired by a device that acquires position information such as a GPS device (the position information measuring device 21 of the mobile body mounting device 2 may also be used). In addition, spatial information (virtual space information) in which a part or all of the real space (the space with the road surface to be photographed) for which the traveling guide is performed is modeled in two or three dimensions is stored. At this time, the virtual space information is divided into the length and width directions at predetermined intervals, and the length direction is represented by the distance from the predetermined position of the shooting range of the road surface to be shot (for example, 0 to 3000 in meters). , The width direction is represented by a course number for each predetermined width in consideration of the shooting range from the reference position in the width direction (for example, the center course number 0 is used as a reference, and the left and right course numbers are -10 to +10). .. Then, based on the acquired position information and travel direction information, a part of the corresponding virtual space information is projected from the projection device 30 onto the road surface in front of the moving body in the traveling direction. According to the guide information of this course, the driver of the moving body runs the moving body.

The guide of the traveling route (course) may be a method other than the case where such a projection device 30 is used or the processing by the management computer, for example, a car navigation system.

The image processing system 1 displays the photographed image information on the display device 72 by using the photographed image information, the position information, and the time information recorded by the mobile body mounting device 2. The computer that executes the processing of the image processing system 1 may or may not be mounted on the mobile body equipped with the mobile body mounting device 2.

The image processing system 1 includes an image information processing unit 10, a position information processing unit 11, an image information storage unit 12, and a display processing unit 13.

The image information processing unit 10 acquires the captured image information recorded in the recording device 23 of the mobile body mounting device 2 and stores it in the image information storage unit 12 described later. The image information processing unit 10 may execute correction processing on the captured image information, if necessary.

When there are a plurality of photographing devices 20, the image information processing unit 10 selects one of the photographing devices 20 and connects the photographed image information photographed by the selected photographing device 20 in chronological order to obtain the road surface. It can be image information in which the surface is continuous.

When there are a plurality of photographing devices 20, the image information processing unit 10 may trim only the common photographing range of the photographed image information photographed by each.

The image information processing unit 10 adjusts the expansion and contraction of the captured image information, and executes the expansion and contraction processing for correcting the size thereof. Since there is an error in the range finder in the moving body, this error is corrected by expanding and contracting the captured image information. For example, if there is a 1% error in the rangefinder that measures in units of 1 mm, there will be an error of 30 m between the start point and the end point on the 3000 m runway. Therefore, when the captured image information is continuously arranged as it is, the expansion and contraction of the captured image information is adjusted by using the position information corrected by the position information processing unit 11 described later, and the size is corrected. Try to minimize the deviation.

FIG. 10 schematically shows this process. FIG. 10 shows a case where a line sensor is used as the photographing device 20. First, the image information processing unit 10 arranges the captured image information in the order of the captured time. Since the timing (rt0) at which the photographing device 20 starts shooting and the time information (at0) by the position information measuring device 21 are synchronized, the photographing device starts from the time when the time information is acquired by the position information measuring device 21. Shooting by 20 has started. Then, the relative time (rt1, rt2, rt3, ...) Is associated and recorded for each photographed image information. On the other hand, the position information measuring device 21 acquires the position information and the time information at a predetermined interval, for example, 10 times or 20 times per second, but the width of the captured image information (for example, a predetermined unit). When the number of sheets reaches 1000 (1 m), the position information measuring device 21 does not always acquire the position information.

Therefore, the image information processing unit 10 calculates the position information corresponding to the end of the captured image information. Specifically, for example, in the captured image information 2, there is a position corresponding to the end of the captured image information 2 between the time information at6 and at7 acquired by the position information measuring device 21. Therefore, the position information P6 (C in FIG. 10) when the time information at6 is acquired by the position information measuring device 21, and the position information P7 (B in FIG. 10) when the time information at7 is acquired by the position information measuring device 21. Therefore, the position (A in FIG. 10) corresponding to the end of the captured image information 2 can be calculated by the proportional distribution.

There are various methods for calculating the proportional distribution, but since the relative time rt2 at the position corresponding to the end of the captured image information 2 is known, the captured image information is added to the time information at0 acquired by the position information measuring device 21. By adding the relative times rt1 and rt2 for each, the time information at the position A corresponding to the end of the captured image information 2 can be specified. Since the ratio can be specified by proportionally distributing the time information specified here and the time information at6 and at7 acquired by the position information measuring device 21, the position information P6 when the time information at6 and the time information at7 are used. By calculating the position information P7 of the above using the above ratio, the position information of the position A corresponding to the end of the captured image information 2 can be specified.

In this way, if the position information for each captured image information can be specified, the captured image information can be compared between the start position of the captured image information (the start position is the end position of the adjacent previous captured image information) and the end position. The actual distance of can be calculated. On the other hand, since the photographing device 20 is composed of a predetermined number of images, for example, 1000 images for 1 mm, the width thereof is 1 m. Then, the actual distance calculated above is compared with the number of sheets in a predetermined unit and the width of 1 m based on the width of shooting, and the deviation becomes the expansion / contraction rate of the shot image information. For example, when the actual distance is 1010 mm, there is a deviation of 1%, so the process of extending the captured image information by 1% is performed. By executing this process for each photographed image information, the photographed image information is expanded and contracted so as to match the distance based on the highly accurate position information measured by the position information measuring device 21, and its size. Can be corrected.

Further, the image information processing unit 10 also executes a shear deformation process for correcting a lateral deviation of the moving body with respect to the traveling direction. This can be done by executing the shear deformation process by changing the position information in the lateral direction with respect to the traveling direction between the start position and the end position of the captured image information. This process is schematically shown in FIG.

As described above, the image information processing unit 10 may perform necessary correction processing such as trapezoidal correction processing and noise removal processing in addition to expansion / contraction processing and shear deformation processing for the captured image information.

Further, as shown in FIG. 12, for example, when the road surface of the runway is divided into courses 1 and 2, and a moving body travels on each course and photographs are taken by the moving body mounting device 2, the course 1 is traveled. The position information corresponds to the photographed image information of the lane 1 photographed by the above (including the photographed image information after correction; the same applies in the present specification) and the photographed image information of the lane 2 photographed by traveling on the course 2. The state of being arranged in chronological order as shown in FIG. 13 is shown in FIG. Fluctuations also occur in the corrected captured image information because fluctuations in the transverse direction that cannot be corrected by the shear deformation process also occur. The shaded areas in FIGS. 12 and 12 are added to make it easier to understand the relationship between the lanes.

Therefore, the image information processing unit 10 sets a lane line L indicating a lane area and a margin line M indicating a margin area for the captured image information. As described above, the lane area is the area of the road surface that must be photographed by traveling on the moving body course, and is set to an arbitrary width from the photographing range of the photographing device 20. Here, ideally, the position information in the crossing direction of the course and the position information of the center in the crossing direction of the area of the lane match. Therefore, the position corresponding to the position information in the crossing direction of the course is specified from the photographed image information, and the lane line L is set at a position having a predetermined width (for example, 100 cm to the left and right from the center of the crossing direction) in the crossing direction. ， The area of the lane. The margin area is an area of a certain width (for example, 20 cm outside the lane line L) provided on the outside of both the left and right sides of the lane area or one of them in consideration of fluctuations in the transverse direction of the lane when the moving body travels. is there. Therefore, the margin area is inside the lane area of the adjacent lane. FIG. 14 shows a state in which the lane line L and the margin line M are specified and displayed in the captured image information. Here, the margin area is provided outside the lane area, but the margin area may be provided inside the lane area. In that case, in the following processing, the lane line L and the margin line M are read in reverse.

The width of the margin area is determined by the running accuracy of the moving body. For example, when the moving body is automatically driven, if the person drives the moving body based on the accuracy according to the deviation in the left-right direction in the automatic running and the traveling guide by the projection device 30, the person's Set arbitrarily based on the accuracy according to the skill. The width of the range to be photographed by the photographing apparatus 20 is at least the width of the lane area plus the left and right margin widths. When the width of the shooting range is determined by the shooting device 20, the width of the lane region can be the width obtained by subtracting the width set as the margin width from the width of the shooting range. When the width of the lane area is 200 cm and the margin width is 20 cm on each side, the width taken by the photographing device 20 is 240 cm or more.

The image information processing unit 10 trims the image information area outside the margin line M, and blackens the area inside the margin line M that cannot be photographed. The image processing of the above is added, and the image information storage unit 12 stores the detailed image information. FIG. 15 shows an example of detailed image information. FIG. 15 (a) shows detailed image information of lane 1 based on the captured image information of lane 1 taken by the moving body traveling on the course 1, and FIG. 15 (b) shows the moving body traveling on the course 2. This is detailed image information of the lane 2 based on the photographed image information of the lane 2 photographed in. Further, the image information processing unit 10 trims the area of the image information outside the lane line L and stores it in the image information storage unit 12 as wide area image information. FIG. 16 shows an example of wide area image information. FIG. 16A shows wide area image information of lane 1 based on the photographed image information of lane 1 taken by the moving body traveling on the course 1, and FIG. 16B shows the moving object traveling on the course 2. It is the wide area image information of the lane 2 based on the photographed image information of the lane 2 photographed in.

The position information processing unit 11 acquires the position information and the time information recorded in the recording device 23 of the mobile body mounting device 2, and obtains the position information measured by the position information measuring device 21 in the photographing device 20 (there are a plurality of captured image devices). In this case, the captured image information is corrected to the position information of the photographing device 20). The position information is corrected by the amount of positional deviation between the photographing device 20 and the position information measuring device 21 (the photographing device 20 and the position information measuring device 21 are separated from each other) with respect to the position information acquired by the position information processing unit 11. Correct from the horizontal offset that indicates the distance. This is schematically shown in FIG.

When the image information processing unit 10 has a plurality of photographing devices 20 and trimming only the common shooting range of the captured image information photographed by each of the photographing devices 20, the center of the obtained image information is Since it coincides with the center line of the photographing devices 20a and 20b, it is not necessary to execute the correction process of the position information processing unit 11.

The image information storage unit 12 stores image information such as captured image information, wide area image information, and detailed image information. Each of these image information is associated with the position information.

The display processing unit 13 executes the display processing based on the image information stored in the image information storage unit 12. The display processing unit 13 displays the road surfaces to be photographed side by side for each course based on the image information stored in the image information storage unit 12. At this time, as the display processing, a detailed display processing for displaying the road surface to be photographed in detail and a wide area display processing for displaying a wider range than the detailed display are performed.

The detailed display processing is a display processing in which detailed image information, which is image information obtained by trimming the outside of the margin area of the captured image information, is displayed side by side for each course. FIG. 18 shows an example of the detailed display processing. As shown in FIG. 18, when the detailed image information is displayed side by side for each course, the detailed image information based on the captured image information of each lane captured by running each course has a margin line M for each course. It is displayed side by side as a dividing line. Therefore, the line that distinguishes the courses is the margin line M, and the line inside the margin line L is the lane line L. Although detailed image information is displayed adjacent to each course in FIG. 18, it does not have to be adjacent to each other.

The wide area display process is a display process in which the wide area image information, which is the image information obtained by trimming the outside of the lane area of the captured image information, is displayed side by side for each course. FIG. 19 shows an example in the case of wide area display processing. As shown in FIG. 19, when the wide area image information is displayed side by side for each course, the wide area image information based on the captured image information of each lane captured by traveling on each course is on the lane line L for each course. It is displayed side by side as a dividing line. Therefore, the line that distinguishes the courses is the lane line L, and the margin area and the image information of the margin area are not displayed. In FIG. 19, wide area image information is displayed adjacent to each course, but it does not have to be adjacent.

For example, if there is a runway with a width of 60 meters and it is divided into courses with a width of 2 meters, it will be divided into 60 courses. When the margin width is 20 cm, the lane width is 2 meters, so that the photographing device 20 shoots at least 240 cm (= 200 cm + 20 cm + 20 cm). Then, in the detailed display processing, detailed image information having a width of 240 cm is displayed in the order of the course. In the wide area display processing, 200 cm wide wide area image information is displayed in the order of the course.

The case where the display processing unit 13 performs the detailed display processing and the wide area display processing based on the detailed image information and the wide area image information generated in the image information processing unit 10 in advance and stored in the image information storage unit 12 has been described in advance. Instead of generating detailed image information and wide area image information in the image information processing unit 10, detailed image information and wide area image information may be generated and displayed based on the captured image information at the time of display processing. Further, only detailed image information may be generated in advance and stored in the image information storage unit 12, and wide area image information may be generated and displayed at the time of display processing.

The display processing unit 13 displays a display screen in which the detailed display and the wide area display are linked or switched to be displayed. FIG. 20 shows an example of a display screen in which the detailed display and the wide area display are linked and displayed.

The display screen of FIG. 20 is a display area A in which the entire road surface (runway) to be photographed is divided into blocks in the traveling direction and the crossing direction so that they can be selected, and a display area B for performing wide area display processing. The case where there are four display areas of a display area C for performing detailed display processing and a display area D for displaying information on an abnormality such as unevenness on the road surface is shown.

When the display processing unit 13 receives that the block A1 at the position where the image information is to be displayed is selected in the display area A, the display processing unit 13 extracts and displays the wide area image information corresponding to the position information from the image information storage unit 12. Display in area B. Further, when the selection of the area B1 to be displayed in detail is received in the display area B, the corresponding detailed image information is extracted from the image information storage unit 12 based on the position information of the center of the selected area and displayed in the display area B. Display on C.

FIG. 21 shows an example of displaying wide area image information in the display area B. Further, FIG. 22 shows an example of displaying detailed image information in the display area C. Note that FIGS. 21 and 22 show a case where image information in substantially the same area is displayed at substantially the same scale in order to make it easier to understand the difference between the areas to be displayed in the wide area display process and the wide area display process. Actually, the wide area display process and the detailed display process may be displayed at different scales.

As information on abnormalities such as road surface irregularities displayed in the display area D, the type (crack, etc.), size, position information, etc. of the abnormality are associated with each abnormality, so that the display processing unit 13 extracts wide area image information and detailed image information at corresponding positions from the image information storage unit 12 based on the position information of the selected abnormality, and the wide area image information is in the area B and the detailed image information is in the area. Display each on C.

Next, an example of the processing process of the image processing system 1 of the present invention will be described with reference to the flowcharts of FIGS. 3 to 5. In the following description, the case of vehicle C as a moving body and the case of the road surface of the runway as a shooting target will be described, but the above are not limited to each, and the moving body is not limited to vehicle C, but also flying a drone or the like. It may be a body, and the object to be photographed may be another object such as the road surface of the runway or the road surface.

In order to capture the image information to be processed by the image processing system 1 of the present invention, the moving body mounting device 2 is attached to the rear of the vehicle C. Then, the vehicle C travels on the runway to be photographed. When traveling on the runway with vehicle C, a management system (not shown) projects a traveling guide onto the road surface from a projection device 30 installed in front of and above vehicle C, travels according to the course, and is mounted on a moving body. The road surface is photographed by the device 2.

When traveling on the runway, the position information measuring device 21 in the mobile body mounting device 2 periodically (for example, 10 times or 20 times per second) acquires position information and time information. The acquired position information and time information are associated and recorded in the recording device 23. Further, each photographing device 20 photographs the road surface of the runway when the distance meter measures that the vehicle C moves in a predetermined photographing unit, for example, 1 mm. Each photographed image information photographed by each photographing device 20 is recorded in the recording device 23 in association with the relative time or the time information measured by the position information measuring device 21 and the time information calculated using the relative time. .. When the mobile body-mounted device 2 has two or more photographing devices 20a and b, the synchronization device 22 synchronizes the photographing devices 20a and b with each other, and the image information captured by which photographing device 20 is used. Whether it exists or not, it is possible to identify each imaging device 20. This may be that the identification information of the photographing device 20 is attached to the photographed image information, or the folders for storing the photographed image information may be divided for each photographing device 20.

As described above, the photographed image information and the relative time or time information, the position information and the time information of the road surface of the runway photographed by the vehicle C traveling on the runway are recorded in the recording device 23.

Then, the image processing system 1 executes each process based on the photographed image information of the photographing apparatus 20 recorded in the recording apparatus 23 and the relative time or time information, and the position information and the time information. The processing of the image processing system 1 may be batch processing or real-time processing. When the recording device 23 is provided in the vehicle C, the computer constituting the image processing system 1 may acquire information from the recording device 23 by wire or wirelessly, or is provided outside the vehicle C, for example, in a cloud server. In this case, the computer constituting the image processing system 1 may acquire information from the cloud server.

First, the image information processing unit 10 acquires the captured image information recorded in the recording device 23 of the mobile body mounting device 2 (S100). Then, the acquired photographed image information is associated with the relative time or time information. Further, the image information processing unit 10 connects the captured image information captured by the photographing device 20 in chronological order. As a result, it is possible to generate photographed image information in which the runway is continuously photographed.

The position information processing unit 11 acquires position information and time information from the recording device 23 of the mobile body mounting device 2 (S110), and the position information processing unit 11 obtains the position information measured by the position information measuring device 21 in visible light. The position information of the photographing device 20 used for the image information is corrected. The position information used in the subsequent processing is the corrected position information (position information of the photographing device 20).

Then, the image information processing unit 10 associates the photographed image information arranged in chronological order with the position information corrected by the position information processing unit 11 and the time information, and the image information processing unit 10 expands and contracts the photographed image information. ， Performs shear deformation processing Performs each correction processing. It is not necessary to perform the correction process in part or in whole.

First, the time information is calculated based on the time information acquired by the position information measuring device 21 and the relative time for each captured image information. Then, the terminal position of each captured image information is calculated by proportionally distributing the time information acquired by the position information measuring device 21 and the position information. The end position of the captured image information can be used as the start position of the adjacent captured image information. By comparing the distance based on the difference in the position information in the traveling direction between the start position and the end position of the captured image information calculated in this way and the distance of the captured image information based on the number of sheets of a predetermined unit and the shooting width. ， Calculate the expansion / contraction ratio of the captured image information and perform expansion / contraction.

In addition, shear deformation processing of the captured image information is executed based on the distance based on the difference in the lateral position information with respect to the traveling direction between the start position and the end position of the captured image information.

By executing the above processing, it is possible to associate the photographed image information obtained by photographing the road surface of the runway with the position information.

When the correction process is executed in this way, the image information processing unit 10 sets the lane line L indicating the lane area and the margin line M indicating the margin area in the captured image information (S120). Then, detailed image information and wide area image information are generated (S130).

First, the image processing unit trims the image information area outside the margin line M (S200), and blackens the area inside the margin line M that cannot be photographed. (S210), the image information storage unit 12 stores the detailed image information as detailed image information (S220). Further, the image processing unit trims a region outside the lane line L (S300) and stores it in the image information storage unit 12 as wide area image information (S310). Since the lane area is inside the margin area, there is almost no area that cannot be photographed. However, if there is an area that cannot be photographed due to some obstacle, the same as the margin area. , Predetermined image processing such as blackening may be added.

After storing the wide area image information and the detailed image information in the image information storage unit 12 in this way, if it is desired to check the image information of the road surface of the runway taken, the display processing unit is performed by performing a predetermined operation. 13 displays a display screen as shown in FIG. 20 (S140).

Then, when the display area A of the display screen receives the selection of the position to be displayed, the display processing unit 13 extracts the wide area image information corresponding to the position information from the image information storage unit 12 and displays it in the display area B. Further, when the selection of the detailed image information area B1 is received from the wide area image information, the detailed image information corresponding to the position information is extracted from the image information storage unit 12 and displayed in the display area C.

Specifically, the display processing unit 13 extracts wide area image information corresponding to the position information from the image information storage unit 12, and for each adjacent course, the lane line L becomes a line indicating the course delimiter. The wide area image information of the lane corresponding to the course is displayed in the display area B. Further, the display processing unit 13 extracts detailed image information corresponding to the position information from the image information storage unit 12, and corresponds to each course for each adjacent course so that the margin line M becomes a line indicating the course division. The detailed image information of the lane is displayed in the display area C. When displaying detailed image information in the display area C, different colors, line types (straight line, broken line, one-dot chain line, two-dot chain line, etc.) and different thicknesses are used so that the margin line M and the lane line L can be distinguished. It is preferable to display with a margin. In addition to distinguishing between the margin line M and the lane line L, it is preferable that the margin area and the lane area can be distinguished. For example, the margin area and the lane area are displayed in different colors, the margin area and the lane area are displayed, and a mark is added.

As a result, wide area image information can be confirmed when a wide range is to be confirmed, and detailed image information can be confirmed when a detailed confirmation is desired. In particular, in the detailed image information, since the margin line M is the course delimiter, the margin areas are superimposed and displayed. Therefore, abnormalities such as unevenness at the break of the course will not be overlooked. In addition, since it is not necessary to combine the image information of adjacent courses, it is possible to display the image information by simple processing without requiring processing time.

There are not only straight points but also curved points on the road surface. For example, in the case of an airport, an airplane travels on a taxiway as it travels from the parking lot to the runway. Therefore, in this embodiment, the case of displaying the screen in the case of a road surface having a curved portion will be described. FIG. 23 shows an example of the course when there is a curved portion.

A center line (a line that divides the road surface with a certain width, such as the Chuo Line) and a kilometer post (a sign indicating the distance) are set on the road surface such as a taxiway. Therefore, the course on which the moving body travels is set so as to draw a curve separated by a certain distance in the direction perpendicular to the center line. The curve may be a polygonal line.

The moving body moves along the course set in this way in the same manner as in the first embodiment, and the road surface is photographed by the moving body mounting device 2. In this case, since the moving body mounting device 2 takes a picture of the road surface by knowing the crossing direction of the moving body, the photographed image information of the lane corresponding to each course is a long rectangle. Strictly speaking, when traveling on a curved part, the distance is distorted between the left and right sides of the moving body, but since the radius of gyration of taxiways and roads is generally sufficiently large, the captured image information is locally localized. Distortion is not a problem.

However, when traveling on the inner course of the curved portion and the outer course, there is a difference in the shooting distance, so that the length of the shot image information of the lane corresponding to the course changes. Therefore, in this embodiment, the display processing unit 13 displays the two display methods, that is, the actual distance display mode and the kilometer post display mode, as switchable.

In the actual distance display mode, the image information stored in the image information storage unit 12 is not subjected to expansion / contraction processing so that the length of the captured image information between kiloposts (unit distance) becomes constant, and is the same as in the first embodiment. It is a method of arranging in. FIG. 24 schematically shows the actual distance display mode. In FIG. 24, the right side is the start point and the left side is the end point, but left-right reverse or vertical direction may be displayed. Since the actual distance display mode is displayed based on the actual mileage, when the captured image information is displayed on the display screen, abnormalities such as unevenness can be confirmed in the same size as the actual size.

In the actual distance display mode, the size of the image information is not expanded or contracted, so the image information of either the inner course or the outer course of the curved portion is close to the actual size. Therefore, even if there is an abnormality such as unevenness, there is an advantage that there is little error measured from the image information.

In the actual distance display mode, the display processing unit 13 superimposes a line on the position of the same kilometer post (unit distance) by using the position information associated with each captured image information in order to clarify the corresponding positional relationship. It is good to do it. As a result, the positional relationship of the same kilometer post can be easily recognized.

In the kilometer post display mode, the captured image information is expanded and contracted in the traveling direction so that the length of the captured image information between the kilometer posts (unit distance) is constant, and the image information is displayed. In this case, the scaling factor between each kilometer post (for example, 0.87 times between 20 to 40 m kilometer posts in course 1) is set in advance, and the image processing unit generates captured image information according to the expansion / contraction ratio in advance. It is stored in the image information storage unit 12. Then, during the display processing in the display processing unit 13, the expanded / contracted captured image information is displayed. In addition to displaying the image in the image processing unit, the captured image information may be expanded or contracted when the display is displayed in the display processing unit 13. FIG. 25 schematically shows the kilometer post display mode.

In the kilometer post display mode, the deviation in the crossing direction between the courses is reduced, which is useful when confirming the entire image of abnormalities such as unevenness existing across the course from the image information.

As described above, it is preferable that the display processing unit 13 can switch between the actual distance display mode and the kilometer post display mode by using an icon, a button, a pull-down menu, or the like.

Also in the case of the second embodiment, detailed image information and wide area image information are generated in each display mode (actual distance display mode, kilometer post display mode) as in the first embodiment, and detailed display processing and wide area display processing are displayed. The processing unit 13 may execute it.

The design of the present invention can be appropriately changed without departing from the spirit of the present invention. The processing is an example, and the processing can be executed in a different order. Furthermore, the screen display can be changed as appropriate. Moreover, even if it does not have all the functions, it may have only some functions.

The problem of the compositing process of image information in the case where one shooting target is divided into a plurality of image information and shot and displayed is not limited to the case of shooting a road surface. Therefore, the image information processing and display processing in the image processing system 1 of the present invention can be applied not only to the image information obtained by photographing the road surface, but also to divide one image object into a plurality of image information and display the image. It can also be applied in cases. For example, it can be applied to various objects to be photographed such as buildings, tunnels, and piers.

By using the image processing system 1 of the present invention, even if fluctuations occur in the transverse direction during shooting, image information is not lost. Also, if you want to see the result of shooting immediately, you can check it immediately.

1: Image processing system 2: Mobile device mounted device C: Vehicle 10: Image information processing unit 11: Position information processing unit 12: Image information storage unit 13: Display processing unit 20: Imaging device 21: Position information measuring device 22: Synchronization Device 23: Recording device 24: Lighting device 25: Support column 26: Mounting beam 27: Lighting support base 30: Projection device 40: Roof carrier 70: Computing device 71: Storage device 72: Display device 73: Input device 74: Communication device

Claims (15)

It is an image processing system for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion.
The image processing system is
Based on the first region and the second region specified in the first image information and the second image information, the second region in the first image information is the second image information. It has a display processing unit that displays the first image information and the second image information so as to be located next to.
A part or all of the shooting range of the second region in the first image information is included in a part or all of the shooting range of the first region in the second image information.
The display processing unit
The first display format for displaying the first image information and the second image information, and the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. Perform display processing with the second display format that displays and
An image processing system characterized by this. It is an image processing system for the first image information and the second image information obtained by photographing the adjacent range of the object to be photographed.
The image processing system is
Based on the first region and the second region specified in the first image information and the second image information, the second region in the first image information is the second image information. It has a display processing unit that displays the first image information and the second image information so as to be located next to.
A part or all of the shooting range of the second region in the first image information is included in a part or all of the shooting range of the first region in the second image information.
An image processing system characterized by this. The display processing unit
The first image information and the second image information are displayed so that the second region in the first image information is located next to the second region in the second image information.
The image processing system according to claim 1 or 2, wherein the image processing system is characterized in that. The display processing unit further
The first image information and the second image information are displayed so that the first region in the first image information is located next to the first region of the second image information.
The image processing system according to any one of claims 1 to 3, wherein the image processing system is characterized in that. The display processing unit further
A display format for displaying the first image information and the second image information so that the second region in the first image information is located next to the second region of the second image information. When,
A display displaying the first image information and the second image information so that the first region in the first image information is located adjacent to the first region of the second image information. The format can be switched,
The image processing system according to claim 4, wherein the image processing system is characterized by the above. The display processing unit
The first area and the second area are displayed so as to be distinguishable.
The image processing system according to any one of claims 1 to 5, wherein the image processing system is characterized in that. The display processing unit
The first image information and the second image information are displayed so as to be distinguishable.
The image processing system according to any one of claims 1 to 6, wherein the image processing system is characterized in that. It is an image processing system for the first image information and the second image information obtained by photographing the adjacent range of the object to be photographed.
The image processing system is
A first region and a second region are specified for the first image information and the second image information, and a region outside the second region is trimmed to generate detailed image information. An image information processing unit that trims an area outside the first area to generate wide-area image information,
It has a display processing unit that performs display processing of image information.
The display processing unit
The detailed image information based on the first image information and the detailed image information based on the second image information are displayed so as to be located next to each other.
The wide area image information based on the first image information and the wide area image information based on the second image information are displayed so as to be located next to each other.
An image processing system characterized by this. It is an image processing system for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion.
The image processing system is
The first display format for displaying the first image information and the second image information, and the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. Display processing unit that performs display processing with the second display format that displays
An image processing system characterized by having. The display processing unit
In the first display format, the positional relationship of the corresponding unit distance is displayed so as to be identifiable.
The image processing system according to claim 1 or 9. The display processing unit
The first display format and the second display format can be switched.
The image processing system according to claim 1, claim 9, or claim 10. This is an image processing program for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion.
The image processing program uses a computer.
Based on the first region and the second region specified in the first image information and the second image information, the second region in the first image information is the second image information. It is made to function as a display processing unit that displays the first image information and the second image information so as to be located next to.
A part or all of the shooting range of the second region in the first image information is included in a part or all of the shooting range of the first region in the second image information.
The display processing unit
The first display format for displaying the first image information and the second image information, and the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. Perform display processing with the second display format that displays and
An image processing program characterized by this. It is an image processing program for the first image information and the second image information obtained by photographing the adjacent range of the object to be photographed.
The image processing program uses a computer.
Based on the first region and the second region specified in the first image information and the second image information, the second region in the first image information is the second image information. It is made to function as a display processing unit that displays the first image information and the second image information so as to be located next to.
A part or all of the shooting range of the second region in the first image information is included in a part or all of the shooting range of the first region in the second image information.
An image processing program characterized by this. It is an image processing program for the first image information and the second image information obtained by photographing the adjacent range of the object to be photographed.
The image processing program uses a computer.
A first region and a second region are specified for the first image information and the second image information, and a region outside the second region is trimmed to generate detailed image information. Image information processing unit that trims the area outside the first area to generate wide area image information,
It functions as a display processing unit that performs image information display processing.
The display processing unit
The detailed image information based on the first image information and the detailed image information based on the second image information are displayed so as to be located next to each other.
The wide area image information based on the first image information and the wide area image information based on the second image information are displayed so as to be located next to each other.
An image processing program characterized by this. This is an image processing program for the first image information and the second image information obtained by photographing the road surfaces in the adjacent range including the curved portion.
The image processing program uses a computer.
The first display format for displaying the first image information and the second image information, and the first image information and the second image information expanded and contracted so that the length of the image information between unit distances is constant. Display processing unit that performs display processing with the second display format that displays
An image processing program characterized by functioning as.