JP2023018180A - Measurement system and measurement method - Google Patents

Abstract

To provide a measurement system and a measurement method with which measurement is easy and measurement accuracy is high, and it is possible to confirm measurement results on the spot.SOLUTION: A first conversion control unit 103 converts three-dimensional point cloud data to geographic coordinate system three-dimensional point cloud data using geographic coordinate system position information acquired by a position communication device 13, which is converted to mesh data by a second conversion control unit 104. A display control unit 105 superimposes the mesh data within a captured image and causes a discretionary point of the mesh data to be displayed in a designatable manner. When a prescribed designation point is designated, a designation control unit 106 acquires the geographic coordinate system three-dimensional position information of the designated point on the basis of the camera coordinate system two-dimensional position information of a point in the mesh data that corresponds to the designated point, and causes a designated point image at the designated point in the mesh data. When a plurality of designation points are designated, a creation control unit 107 creates, and displays, a cross sectional drawing on the basis of the geographic coordinate system three-dimensional position information of the plurality of designated points.SELECTED DRAWING: Figure 1

Description

The present invention relates to measurement systems and measurement methods.

Attempts have been made to combine laser scanner measurement and digital photogrammetry. Laser scanner measurement is the process of irradiating a laser beam onto a measurement target, calculating the distance from the laser irradiation device to the measurement target based on the time it takes for the laser light to be reflected from the measurement target and returning, and This is a method of measuring the three-dimensional position of a measurement target with respect to the laser irradiation device by considering the angle at the time of irradiation. In the laser scanner measurement, information obtained by quantifying the three-dimensional position and the laser reflection intensity as a measurement result is acquired as point group data (three-dimensional point group data).

On the other hand, in digital photogrammetry, first, an object to be measured is photographed from two viewpoints with a predetermined interval so that some of the photographs taken in order overlap to obtain digital photograph data, and two digital photograph data are obtained. Calculate the difference between the central projection images of the overlapped portion (stereo photographic data) in . Next, in order to convert the length data in the digital photograph data into the actual dimension, the reference length data in the digital photograph data is converted into the reference length by photographing the reference length close to the object to be measured, Calculate the height information and distance information of the measurement target. Then, the calculated height information and distance information of the object to be measured are added to the stereo photograph data, and the data is left as a three-dimensional image.

Here, laser scanner measurement can easily obtain highly accurate 3D point cloud data, but because it cannot obtain colors, it is difficult for people who view the displayed image to recognize the measurement target. I have a problem. On the other hand, in digital photogrammetry, three-dimensional images are easy to recognize, but there is a problem that a lot of labor is required to create a three-dimensional image.

Therefore, for example, Japanese Patent Application Laid-Open No. 2005-77385 (Patent Document 1) discloses an image matching method including an acquisition process, a supply process, a calculation process, and a correspondence process. The acquisition step obtains three-dimensional point cloud data of the measurement target with a laser scanner, photographs the measurement target to acquire a two-dimensional color image, and the provision step selects arbitrarily three or more points on the two-dimensional color image. 3D position information based on the 3D point cloud data is given to each of the selected points. The calculation step calculates the relative positional relationship between the camera and the laser scanner at the time of photographing the measurement target based on the three-dimensional positional information of the selected point, and the corresponding step calculates the relative positional relationship and the selected point Based on the three-dimensional position information, the image data of the color image is made to correspond to the data of each point of the point cloud data. As a result, even when the 3D point cloud data and the 2D color image are measured and photographed from different viewpoints and distances, the respective images can be associated with each other. Also disclosed is a measurement system having a laser scanner, a camera, a display means, a selection means, an input means, and a position calculation means. The laser scanner acquires three-dimensional point cloud data of the measurement target, and the camera photographs the measurement target. The display means can display the measurement target based on the two-dimensional color image captured by the camera and the three-dimensional point cloud data, and the selection means selects an arbitrary point on the two-dimensional color image displayed on the display means. It is selectable. The input means can input three-dimensional position information based on the three-dimensional point cloud data at any point selected by the selection means. , the three-dimensional position of each point to be measured displayed as a two-dimensional color image is obtained. This makes it possible to obtain three-dimensional point cloud data to which detailed color information is added.

JP 2005-77385 A

However, in the technique described in Patent Document 1, the 3D point cloud data is directly associated with the 2D color image data, so the amount of data becomes huge, and the terminal device for processing is burdened and the processing takes time. There is a problem.

In recent years, with the spread of laser scanners and camera-equipped mobile terminals, it is possible to acquire 3D point cloud data and 2D color image data in parallel. It is becoming possible to conduct original surveys.

However, in such a three-dimensional survey method, as described above, the three-dimensional point cloud data is directly associated with the two-dimensional color image data, resulting in an enormous amount of data. There is a problem that the process of obtaining the data and the process of associating the 2D color image data with the 3D point cloud data must be separately processed. For example, the acquisition process is performed by bringing a laser scanner or a mobile terminal device with a camera to the site where the measurement target exists, and the correspondence process is performed by transferring the acquired 3D point cloud data and 2D color image data to the office. I bring it back to the office and run it on the terminal device for processing at the office. Therefore, even if 3D point cloud data and 2D color image data are acquired on site, it is not possible to select a predetermined point to be measured or to check the 3D position information of the predetermined point on the spot. I have a problem. The technique described in Patent Document 1 above cannot solve such a problem.

Therefore, the present invention has been made to solve the above problems, and provides a measurement system and a measurement method that facilitate measurement, have high measurement accuracy, and enable confirmation of measurement results on the spot. With the goal.

A measurement system according to the present invention is a measurement system comprising a mobile terminal device attached with a three-dimensional laser scanner and a camera facing the same direction, and comprising a first acquisition control unit and a second acquisition control unit. , a first conversion control unit, a second conversion control unit, a display control unit, a designation control unit, and a creation control unit. A first acquisition control unit acquires three-dimensional point cloud data of a measurement target region using the three-dimensional laser scanner. A second acquisition control unit acquires a captured image of a two-dimensional image showing the measurement target area by the camera. A first conversion control unit converts the three-dimensional point cloud data into a three-dimensional data in a geographical coordinate system expressed in a geographical coordinate system using geographical coordinate system position information acquired by a position communication device attached to the mobile terminal device. Convert to point cloud data. The second conversion control unit meshes the surface of the shape represented by the three-dimensional point cloud data of the geographic coordinate system and converts it into mesh data representing the surface of the measurement target area composed of polygons. The display control unit associates the geographic coordinate system of the mesh data with the camera coordinate system of the captured image, thereby superimposing the mesh data in the captured image and displaying any point of the mesh data in a specifiable manner. When a predetermined designated point is designated, the designation control unit, based on the camera coordinate system two-dimensional position information of the point on the mesh data corresponding to the designated designated point, the geographic coordinate system three-dimensional Position information is acquired, and a specified point image indicating the specified point is displayed at the specified point on the mesh data. When a plurality of designated points are designated, the creation control unit creates a sectional view plotting the plurality of designated points when viewed from the horizontal direction based on the three-dimensional position information of the designated points in the geographic coordinate system. to create and display.

A measuring method according to the present invention is a measuring method for a measuring system provided with a mobile terminal device attached with a three-dimensional laser scanner and a camera facing the same direction, comprising: a first acquisition control step; an acquisition control process, a first conversion control process, a second conversion control process, a display control process, a designation control process, and a creation control process. Each step of the measurement method corresponds to each part of the single tree modeling system.

According to the present invention, the measurement is easy, the measurement accuracy is high, and the measurement result can be checked on the spot.

It is a schematic diagram showing an example of a measuring system concerning an embodiment of the present invention. It is a flow chart for showing an execution procedure of a measuring method concerning an embodiment of the present invention. A diagram (Fig. 3A) showing an example of the case where the measurer directs the three-dimensional laser scanner and the camera toward the measurement target area and the case where the measurer acquires the geographic coordinate system position information with the position communication device. A diagram ( FIG. 3B ) showing an example. A diagram (FIG. 4A) showing an example of the configuration of two types of position communication devices, and a diagram (FIG. 4B) showing an example in which a mobile terminal device converts three-dimensional point cloud data in a geographical coordinate system into mesh data. be. FIG. 4 is a diagram showing an example of the relationship between a mobile terminal device, a captured image, and mesh data; A diagram ( FIG. 6A ) showing an example in which the measurer directs the three-dimensional laser scanner and the camera to another part of the measurement target area, and the first mesh data and the second mesh data. FIG. 6B is a diagram showing an example of overlapping. FIG. 10 is a diagram showing an example when a measurer designates a designated point of mesh data in a captured image; FIG. 10 is a diagram showing an example of a case where a designated point image is displayed at a designated point of mesh data within a captured image; FIG. 10 is a diagram showing an example of a case in which a plurality of designated point images are displayed at a plurality of designated points of mesh data within a captured image by designating a plurality of designated points; FIG. 10 is a diagram showing an example when a cross-sectional view is displayed on the mobile terminal device; FIG. 10 is a diagram showing an example of a case where mesh data is displayed within a photographing screen in the embodiment; FIG. 10 is a diagram showing an example of a case where a designated point image is displayed at a designated point of mesh data within a photographing screen in the embodiment; FIG. 10 is a diagram showing an example of a case where a plurality of designated point images are displayed at a plurality of designated points of mesh data within a photographing screen in the embodiment; FIG. 10 is a diagram showing an example of three-dimensional display of geographical coordinate system three-dimensional point cloud data in which a plurality of designated point images are set according to the embodiment; FIG. 10 is a diagram showing an example when a cross-sectional view in the example is displayed;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. It should be noted that the following embodiment is an example that embodies the present invention, and is not intended to limit the technical scope of the present invention.

A measurement system 1 according to the present invention is basically composed of a portable terminal device 10, a three-dimensional laser scanner 11, a camera 12, and a position communication device 13, as shown in FIG. Here, in FIG. 1, the three-dimensional laser scanner 11, the camera 12, and the position communication device 13 are attached to the mobile terminal device 10, but each part is connected to the mobile terminal device 10. It doesn't matter if there is.

The mobile terminal device 10 includes a display unit that displays a screen, a reception unit (input unit) that receives input of a predetermined instruction by a user's operation, a storage unit that stores data, a control unit that controls each unit, a data and a communication unit. Examples of the mobile terminal device 10 include a tablet terminal device, a portable notebook computer, a mobile terminal device (smartphone) with a touch panel, and the like.

The three-dimensional laser scanner 11 also includes a laser irradiation unit that emits a pulsed laser to an object, a scattered light detection unit that detects scattered light from the laser irradiated onto the object, and a scattered light detected based on the detected scattered light. and a point cloud calculation unit for calculating three-dimensional data of the point cloud of the distance from the three-dimensional laser scanner 10 to the object and the position where the scattered light is scattered on the surface of the object. The three-dimensional laser scanner 10 can include, for example, a Lidar (Light Detection and Ranging, Laser Imaging Detection and Ranging) sensor. The three-dimensional point cloud data acquired by the three-dimensional laser scanner 11 is an aggregation of multiple pieces of three-dimensional position information.

Also, the camera 12 is basically a visible light camera, and any kind of camera may be used as long as it can take digital photographs. The position communication device 13 may be any type of position communication device 13 as long as it can acquire the position information of the mobile terminal device 10 . Mention may be made of GNSS receivers.

Here, the three-dimensional laser scanner 11 and the camera 12 are attached to the portable terminal device 10 facing the same direction. Therefore, when the three-dimensional laser scanner 11 and the camera 12 are directed to a predetermined measurement target area, the three-dimensional laser scanner 11 and the camera 12 generate three-dimensional point cloud data and two-dimensional images of the same measurement target area. can be obtained.

The mobile terminal device 10 incorporates a CPU, ROM, RAM, HDD, SSD, etc. (not shown). Run the program. Also, each unit described later is implemented by the CPU executing a program.

Next, a configuration and an execution procedure according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. First, the measurer carries the mobile terminal device 10 and visits a predetermined measurement target area (for example, a sloped land) where the measurement is desired, and activates the mobile terminal device 10 . Then, the measurer points the three-dimensional laser scanner 11 and the camera 12 of the mobile terminal device 10 toward the measurement target area, and inputs a measurement key into the mobile terminal device 10 .

Then, the first acquisition control unit 101 of the mobile terminal device 10 acquires three-dimensional point cloud data of the measurement target area by the three-dimensional laser scanner 11 ( FIG. 2 : S101).

Here, the acquisition method of the first acquisition control unit 101 is not particularly limited. For example, as shown in FIG. 3A, when the measurer directs the laser irradiation unit of the three-dimensional laser scanner 11 toward the measurement target area (sloping ground), the first acquisition control unit 101 inputs the measurement key. In response, the laser irradiation of the three-dimensional laser scanner 11 is started.

The irradiated laser is reflected and scattered as scattered light by part of the measurement target area (sloping ground) facing the three-dimensional laser scanner 11 . Then, the scattered light detection unit of the three-dimensional laser scanner 11 detects the scattered light, and the point cloud calculation unit of the three-dimensional laser scanner 11 acquires three-dimensional point cloud data of the point cloud at the position where the scattered light is scattered. .

Here, the three-dimensional point cloud data includes points at positions where scattered light has returned to the three-dimensional laser scanner 11 and does not include points at positions where scattered light has not returned to the three-dimensional laser scanner 11 . Further, the positional information P1 (xp1, yp1, zp1) of the points included in the 3D point cloud data is configured in a 3D coordinate system with the mobile terminal device 10 as a reference (origin).

After the first acquisition control unit 101 acquires the three-dimensional point cloud data, the second acquisition control unit 102 of the terminal device 10 indicates the measurement target area (sloping ground) with the camera 12. A photographed image I of a two-dimensional image is obtained (FIG. 2: S102).

Here, the acquisition method of the second acquisition control unit 102 is not particularly limited. For example, as shown in FIG. 3A, the measurer points the camera 12 toward the measurement target area (sloping ground), so the second acquisition control unit 102 captures the measurement target area and A photographed image I of a two-dimensional image showing an area (sloping ground) is acquired.

Here, since the three-dimensional laser scanner 11 and the camera 12 face the same direction, the three-dimensional point cloud data acquired by the three-dimensional laser scanner 11 is included in the photographed image I acquired by the camera 12. It corresponds to a part of the measurement target area.

Now, when the second acquisition control unit 102 acquires the captured image, next, the first conversion control unit 103 of the terminal device 10 converts the geographical coordinate system acquired by the position communication device 13 attached to the mobile terminal device 10 Using the position information, the three-dimensional point cloud data is converted into geographical coordinate system three-dimensional point cloud data expressed in a geographical coordinate system (FIG. 2: S103).

Here, the conversion method of the first conversion control unit 103 is not particularly limited. For example, the first conversion control unit 104 acquires the geographic coordinate system position information P0 (xp0, yp0, zp0) of the mobile terminal device 10 via the position communication device 13 attached (built-in) to the mobile terminal device 10. . Next, the first conversion control unit 104 converts the position information P1 (xp1, yp1, zp1) of each point included in the three-dimensional point cloud data with the mobile terminal device 10 as a reference into the geographic coordinate system of the mobile terminal device 10. A subtraction value P2 (xp2, yp2, zp2) is calculated by subtracting the position information P0 (xp0, yp0, zp0). That is, the first conversion control unit 104 changes the reference point of the position information P1 (xp1, yp1, zp1) of each point of the three-dimensional point cloud data from the reference point of the mobile terminal device 10 to the reference point of the geographical coordinate system. By doing so, it is converted into position information P2 (xp2, yp2, zp2) of each point of the three-dimensional point cloud data in the geographical coordinate system. This makes it possible to treat the 3D point cloud data based on the mobile terminal device 10 as geographic coordinate system 3D point cloud data (data for measurement) based on the geographic coordinate system.

Here, the position communication device 13 is not particularly limited. For example, as shown in FIG. The accuracy (measurement limit) of the geographic coordinate system position information P0 (xp0, yp0, zp0) of the mobile terminal device 10 acquired by the first conversion control unit 104 is generally about 10 m. On the other hand, when the RTK receiver 40 is attached to the mobile terminal device 10 and the position communication device is a two-frequency multi-GNSS receiver of the RTK receiver 40, the first conversion control unit 104 acquires the mobile terminal device 10 The accuracy of the geographic coordinate system position information P0 (xp0, yp0, zp0) of the portable terminal device 10 is about several centimeters, and the accuracy of the geographic coordinate system position information P0 (xp0, yp0, zp0) of the mobile terminal device 10 is greatly improved. In this case, since the accuracy of the converted geographical coordinate system three-dimensional point cloud data is also improved, the accuracy of the measurement result can be improved.

After the first conversion control unit 103 completes conversion, the second conversion control unit 104 of the mobile terminal device 10 meshes the surface of the shape represented by the geographical coordinate system three-dimensional point cloud data. Then, the data is converted into mesh data representing the surface of the measurement target area composed of polygons (FIG. 2: S104).

Here, the conversion method of the second conversion control unit 104 is not particularly limited. For example, the second conversion control unit 104 converts the three-dimensional point cloud data in the geographical coordinate system into mesh data M in which all faces are composed of triangles with three vertices, as shown in FIG. 4B. Although there is no particular limitation on the meshing algorithm, for example, a triangulation method can be used.

For example, the geographical coordinate system three-dimensional point cloud data is composed of items of three-dimensional coordinate ID, image ID, and geographical coordinate system three-dimensional position information. On the other hand, the mesh data M is data representing three-dimensional point cloud data in a geographic coordinate system as a mesh (mesh), and is composed of each item of a mesh ID, a mesh vertex, and a normal vector. The mesh vertex stores a predetermined number (1 or more) of vertices of the three-dimensional position information in the geographic coordinate system. The normal vector is a vector perpendicular to the mesh surface, meaning a vector perpendicular to all straight lines on the mesh surface, and stores a three-dimensional representation of the normal vector of the mesh surface. Here, since the mesh data M consists of the vertices of the polygons that make up the mesh and the outward normal vectors of the polygons, the amount of data is compressed when compared to individual geographical coordinate system three-dimensional point cloud data. .

By meshing the three-dimensional point cloud data in the geographic coordinate system in this way, the point cloud data with a large amount of data can be converted into mesh data M with a compressed data amount, which can be easily handled. In addition, the mesh data M represents the surface of the measurement target area, and can be easily displayed as an AR (augmented reality) object on the above-described photographed image. I can. In the above description, triangles are used as the mesh shape, but the type of mesh shape is not particularly limited, and other than triangles, for example, quadrilaterals, pentagons, and the like can be mentioned.

Here, the second transformation control unit 104 performs noise processing for removing variations in points before meshing the three-dimensional point cloud data in the geographic coordinate system, so that points may be removed from the three-dimensional point cloud data of the geographical coordinate system, and the shape of the measurement target area may be made into highly accurate mesh data. As noise processing, for example, a processing of calculating a boxplot for three-dimensional point cloud data in a geographical coordinate system and removing points with large variations can be mentioned.

Now, when the second conversion control unit 104 completes the conversion, next, the display control unit 105 of the mobile terminal device 10 associates the geographical coordinate system of the mesh data M with the camera coordinate system of the captured image I, so that the The mesh data M is superimposed on the photographed image I and displayed so that any point of the mesh data M can be specified (FIG. 2: S105).

Here, the display method of the display control unit 105 is not particularly limited. For example, as shown in FIG. The two-dimensional position information Q2 (vq2, uq2) of the predetermined vertex of the camera coordinate system is the conversion information such as the shooting position and orientation information of the three-dimensional laser scanner 11 and the camera 12, the focal length of the camera 12, and the calibration matrix. can be matched based on

The geographic coordinate system has a predetermined point in the geographic coordinates as the origin, the x-axis as the horizontal axis, the y-axis as the vertical axis, and the z-axis as the depth axis (field-of-view axis). The z-axis means the axis in the direction from the three-dimensional laser scanner 11 toward the measurement target area. The camera coordinate system has a predetermined point in the photographed image I as the origin, the horizontal axis as the v axis, and the vertical axis as the u axis. The captured image I is positioned perpendicular to the z-axis at a position separated from the center of the camera 12 toward the measurement target area by the focal length f in the z-axis direction.

The display control unit 105 converts the geographical coordinate system of the three-dimensional position information P2 (xp2, yp2, zp2) of each vertex of the mesh data M in the real world to the camera coordinate system of the captured image I using the conversion information. , the geographical coordinate system three-dimensional position information P2 (xp2, yp2, zp2) of the vertices of the mesh data M is converted into camera coordinate system two-dimensional position information Q2 (vq2, uq2). Then, the display control unit 105 causes the camera coordinate system two-dimensional position information Q2 (vq2, uq2) of each vertex of the converted mesh data M to be displayed in the captured image I, so that the mesh data M overlap.

For example, the display control unit 105 displays the captured image I and the mesh data M on a display reception unit (for example, a touch panel), and allows any point of the mesh data M displayed on the touch panel to be designated. As a result, the mesh data M is displayed in the photographed image I as an AR object representing the surface of the measurement target area, and the measurer is guided to designate an arbitrary point of the mesh data M in the photographed image I. can be done.

Now, when the display control unit 105 completes the display, the measurer can specify the mesh data M in the captured image I. Here, the measurer can further specify the three-dimensional point cloud data of the measurement target region. To get it, it looks like this: That is, as shown in FIG. 6A, the measurer moves the position of the portable terminal device 10 to direct the three-dimensional laser scanner 11 and the camera 12 to another part of the measurement target area. Then, in the same manner as described above, the first acquisition control unit 101 acquires 3D point cloud data of other parts by the 3D laser scanner 11 (FIG. 2: S101), and the second acquisition control unit 102 A photographed image I of a two-dimensional image showing other parts is acquired by the camera 12 (FIG. 2: S102). Next, the first transformation control unit 103 transforms the 3D point cloud data into the geographical coordinate system 3D point cloud data ( FIG. 2 : S103), and the second transformation control unit 104 transforms the geographical coordinate system 3D data. The point cloud data is converted into mesh data M (FIG. 2: S104). By associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image, the display control unit 105 can superimpose the mesh data M on the captured image I and specify any point of the mesh data M. (Fig. 2: S105).

Here, when the measurer repeatedly acquires the three-dimensional point cloud data and displays the mesh data M at any time, the display control unit 105 causes the two mesh data M , the overlapping portion of one mesh data M is deleted, and the deleted one mesh data M and the other mesh data M are displayed.

For example, the display control unit 105 compares the first mesh data M1 displayed earlier and the second mesh data M2 displayed later, and searches for overlapping portions between the two.

As a result of the comparison, if there is no overlap between the first mesh data M1 and the second mesh data M2, the display control unit 105 displays the first mesh data M1 and the second mesh data M2 in the captured image I. to display respectively. As a result, the area of the mesh data M in the captured image I can be expanded.

On the other hand, as a result of the comparison, as shown in FIG. 6B, if the part D1 of the first mesh data M1 and the part D2 of the second mesh data M2 overlap, the display control unit 105 By deleting either the overlapping portion D1 of the mesh data M1 or the overlapping portion D2 of the second mesh data M2 and deleting the geographical coordinate system three-dimensional point cloud data corresponding to the deleted overlapping portion, unnecessary three-dimensional The point cloud data can be deleted and the data volume can be compressed. In FIG. 6B, the display control unit deletes the overlapping portion D2 of the second mesh data M2 displayed later. Then, the display control unit 105 divides the captured image I into mesh data M (first mesh data M1) whose overlapping portions are not deleted and mesh data M (second mesh data M2) whose overlapping portions are deleted. and respectively. As a result, the area of the mesh data M in the captured image I can be expanded without waste.

Now, when the measurer is able to obtain mesh data for the measurement target region in the captured image I, a predetermined designated point (also referred to as a marker) of the measurement target position in the mesh data M of the captured image I is selected. ) is specified, the specification control unit 106 of the mobile terminal device 10 controls the two-dimensional position information of the point on the mesh data M corresponding to the specified first specified point based on the camera coordinate system two-dimensional position information. , obtains the three-dimensional position information of the first designated point in the geographic coordinate system, and displays a designated point image showing the designated point at the first designated point on the mesh data M (FIG. 2: S106).

Here, the display method of the designation control unit 106 is not particularly limited. For example, as shown in FIG. 7, when the measurer designates the first designated point of the mesh data M of the captured image I via the touch panel of the mobile terminal device 10, the designation control unit 106 causes the first designation Acquire camera coordinate system two-dimensional position information Q3 (vq3, uq3) of the point on the mesh data M corresponding to the point.

Here, as described above, the camera coordinate system two-dimensional position information of the vertices of the mesh data M of the photographed image I is converted from the geographic coordinate system three-dimensional position information of the vertices of the mesh data M in the real world using the conversion information. are mapped. Therefore, the camera coordinate system two-dimensional position information of a predetermined point on the mesh data M of the captured image I is transformed into the geographic coordinate system three-dimensional position information of a predetermined point on the mesh data M in the real world using the conversion information. It is possible to convert

Therefore, this time, the specification control unit 106 converts the camera coordinate system two-dimensional position information Q3 (vq3, uq3) of the point on the mesh data M corresponding to the first specified point to the real world using the conversion information. The points on the mesh data M are converted into geographical coordinate system three-dimensional position information P3 (xp3, yp3, zp3), and the converted geographical coordinate system three-dimensional position information P3 (xp3, yp3, zp3) is used for the first designated point. Acquired as 3D position information in the geographic coordinate system. In other words, by specifying points on the mesh data M of the captured image I, the measurer specifies points on the surface of the shape represented by the three-dimensional point cloud data in the real world. As a result, the measurer can acquire the three-dimensional position information of the first specified point in the geographic coordinate system by specifying the first specified point while viewing the mesh data M of the captured image I. .

Next, as shown in FIG. 8, the designation control unit 106 places a designated point image S (for example, a sphere at the top end of a bar) indicating the designated point on the first designated point of the mesh data M of the captured image I. pole) is displayed. Accordingly, by checking the specified point image S, it is possible to immediately find the position of the first specified point. The form of the designated point image S is not particularly limited, and examples thereof include an arrow, a flag, etc., in addition to the pole.

In addition, for example, when the measurer erroneously designates a designated point, for example, by inputting a cancel key (not shown) into the mobile terminal device 10, the designation control unit 106 can be used to determine the geographic location of the designated designated point. The coordinate system three-dimensional position information and the specified point image S are deleted. This allows the measurer to easily redo the designation.

By the way, the measurer repeats designation of designated points for the mesh data M, and as shown in FIG. It is possible to display a plurality of designated point images S as well as obtain the designated point images. Here, for the camera coordinate system two-dimensional position information Q3 (vq3, uq3), Q4 (vq4, uq4), and Q5 (vq5, uq5) of three designated points on the touch panel of the mobile terminal device 10, the real world Geographical coordinate system three-dimensional position information P3 (xp3, yp3, zp3), P4 (xp4, yp4, zp4), and P5 (xp5, yp5, zp5) of three designated points is acquired. In this way, while viewing the photographed image I, the measurer can designate a desired designated point of the object to be measured on the spot and obtain the three-dimensional position information of the designated point in the geographic coordinate system.

Now, when the measurer completes designation of a plurality of specified points and inputs a cross-sectional view creation key (not shown) to the mobile terminal device 10, the creation control section 207 of the mobile terminal device 10 controls the plurality of specified points. Based on the three-dimensional position information in the geographic coordinate system, a cross-sectional view plotting a plurality of designated points when viewed from the horizontal direction is generated and displayed (FIG. 2: S107).

Here, the display method of the creation control unit 207 is not particularly limited. For example, as shown in FIG. 10, the creation control unit 207 creates a cross-sectional view with the vertical direction as the y-axis and the horizontal direction as a predetermined direction of the horizontal plane formed by the x-axis and the z-axis. , three-dimensional positional information P3 (xp3, yp3, zp3), P4 (xp4, yp4, zp4), and P5 (xp5, yp5, zp5) in the geographical coordinate system of the three designated points that have already been acquired are plotted. Here, the cross-sectional view is an image completely different from the photographed image I. FIG.

In addition, the creation control unit 207 connects two adjacent plot points with a straight line L and displays the three plot points (designated points). Here, if the mesh data M exists between the three specified points, the creation control unit 207 adds the mesh data M to the three plotted points and the straight line L as the ground to draw the cross section. Furthermore, the creation control unit 207 determines the distance (difference in the horizontal plane), height (difference in the vertical plane), gradient Parameters such as rate and angle may be calculated and displayed near each specified point on the sectional view.

In this way, it is possible to create cross-sectional views on the spot using the three-dimensional positional information of multiple specified points. It is possible to easily grasp the positional relationship and check the measurement result on the spot.

In the past, 3D point cloud data was acquired using a 3D laser scanner carried on site, and cross-sectional views based on the 3D point cloud data were created by an office worker who returned home with the 3D laser scanner. This was done using the terminal equipment at the office, and terminal costs and administrative costs were incurred. In the present invention, data compression by meshing, designation of specified points on the spot, and creation of cross-sectional views on the spot are all performed by a single mobile terminal device 10. Therefore, the terminal cost is lower than in the conventional case. and administrative costs can be reduced. In addition, in the present invention, since cross-sectional views can be created on the spot, it is possible to make decisions on the spot, such as redoing the acquisition of 3D point cloud data, leading to improved work efficiency and reduced work time. can do

The type of cross-sectional view created by the creation control unit 207 is not particularly limited. Is possible.

Now, an embodiment according to the present invention will be described. The measurement system and measurement method shown in FIGS. 1 and 2 were embodied in a mobile terminal device 10, and a predetermined measurement target area was measured. The measurer acquired three-dimensional point cloud data for a predetermined measurement target area with the three-dimensional laser scanner 11, and acquired a photographed image with the camera 12 for the same measurement target area. The mobile terminal device 10 converts the three-dimensional point cloud data into geographical coordinate system three-dimensional point cloud data, and converts it into mesh data. In the mobile terminal device 10, the captured image I is displayed on the touch panel, and the mesh data is displayed within the captured image by associating the geographical coordinate system of the mesh data with the camera coordinate system of the captured image.

In FIG. 11 , the mesh data M is displayed slightly superimposed on the photographed image I on the touch panel of the mobile terminal device 10 . Since the mesh data M is data representing the surface of the measurement target region, it is displayed in correspondence with the shape of the surface of the measurement target region. Three-dimensional point cloud data acquired by the three-dimensional laser scanner 11 is displayed in a square portion W (small window) on the upper right of the captured image I. Of the rectangular portions W, portions B for which three-dimensional point cloud data have not been obtained are displayed in a predetermined color (black). Here, the photographed image I and the three-dimensional point cloud data are displayed side by side, and the part B where the three-dimensional point cloud data is not obtained is displayed in a predetermined color, so that the measurer can see the three-dimensional point cloud data. It is possible to prompt the user to scan the portion where the image is not obtained with the three-dimensional laser scanner 11 .

The quadrangular portion where the three-dimensional point cloud data is obtained is the portion where the mesh data M exists in the photographed image I, so the measurer can specify any point. Therefore, when the measurer designates a predetermined designated point in the mesh data M, the mobile terminal device 10 acquires the three-dimensional position information of the designated point in the geographic coordinate system, and as shown in FIG. Display image S (pole). This makes it possible to acquire the three-dimensional position information of the specified point in the geographic coordinate system, that is, to measure it on the spot.

Subsequently, the measurer obtains three-dimensional point cloud data with the three-dimensional laser scanner 11, and obtains an image captured by the camera 12 for the same measurement target region, thereby obtaining mesh data M in a wide range of the measurement target region. can be obtained. Therefore, when the measurer designates a plurality of designated points on the mesh data M while viewing the photographed image I, the mobile terminal device 10 acquires the three-dimensional position information of the designated points in the geographic coordinate system. At the same time, as shown in FIG. 13, a plurality of specified point images S (poles) are displayed. As a result, the measurer can understand at a glance which position in the measurement target area has been designated on the spot.

Here, the mobile terminal device 10 sets the color of the reference designated point image S to a first color (for example, navy blue), and sets the color of the other designated point images S to a second color different from the first color ( For example, it is preferable to make the measurement person distinguish between the reference designated point image S and the other designated point images S by displaying them in orange.

Now, when the measurer inputs, for example, an expand key to the mobile terminal device 10 while viewing the captured image I on the touch panel, the mobile terminal device 10 displays a plurality of designated point images S as shown in FIG. The geographic coordinate system 3D point cloud data is displayed three-dimensionally. While looking at this geographical coordinate system three-dimensional point cloud data, for example, when the measurer designates a desired section and inputs a section drawing creation key, the mobile terminal device 10 displays a plurality of designated points in the geographical coordinate system. Based on the three-dimensional position information, as shown in FIG. 15, a cross-sectional view in which a plurality of specified points are plotted when viewed from the horizontal direction is generated and displayed. Here, in the sectional view, in addition to the geographical coordinate system three-dimensional position information of a plurality of specified points, mesh data M indicating straight lines connecting the specified points and the ground are also displayed. Further, in the mobile terminal device 10, the distance (difference in the horizontal plane), height (difference in the vertical plane), gradient Parameters such as rate and angle are calculated and displayed near each specified point on the sectional view. As a result, the measurer can confirm the three-dimensional position information of the specified points on the spot, and can also verify the measurement results of a plurality of specified points on the spot from the sectional view. Acquisition of the 3D point cloud data and analysis of the 3D point cloud data are not separated as in the past, and the convenience for the measurer can be improved. Thus, according to the present invention, the measurement is easy, the measurement accuracy is high, and the measurement result can be checked on the spot.

In the embodiment of the present invention, the mobile terminal device 10 is configured to include each unit, but the program for realizing each unit may be stored in a storage medium and the storage medium may be provided. In this configuration, the program is read by the device, and the device realizes each part. In that case, the program itself read from the recording medium exhibits the effects of the present invention. Furthermore, it is also possible to provide a method of storing the steps executed by each unit in a hard disk.

INDUSTRIAL APPLICABILITY As described above, the measurement system and measurement method according to the present invention are useful in all fields that acquire and utilize three-dimensional position information in a geographic coordinate system, such as the field of measurement, the field of surveying, the field of civil engineering, and the field of construction. It is effective as a measurement system and a measurement method that are easy to perform, have high measurement accuracy, and can confirm the measurement result on the spot.

1 measurement system 10 mobile terminal device 11 three-dimensional laser scanner 12 camera 13 position communication device 101 first acquisition control unit 102 second acquisition control unit 103 first conversion control unit 104 second conversion control unit 105 display control unit 106 designation control unit 107 creation control unit

Claims (4)

A measurement system equipped with a mobile terminal device in which a three-dimensional laser scanner and a camera are oriented in the same direction,
a first acquisition control unit for acquiring three-dimensional point cloud data of a measurement target area by the three-dimensional laser scanner;
a second acquisition control unit that acquires a captured image of a two-dimensional image showing the measurement target area by the camera;
converting the three-dimensional point cloud data into geographic coordinate system three-dimensional point cloud data expressed in a geographic coordinate system using geographic coordinate system position information acquired by a position communication device attached to the mobile terminal device; a conversion control unit of
a second conversion control unit that meshes the surface of the shape represented by the three-dimensional point cloud data in the geographical coordinate system and converts it into mesh data representing the surface of the measurement target area composed of polygons;
a display control unit that overlays the mesh data in the captured image by associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image, and displays the mesh data so that an arbitrary point can be specified;
When a predetermined designated point is designated, the geographical coordinate system three-dimensional position information of the designated point is obtained based on the camera coordinate system two-dimensional position information of the point on the mesh data corresponding to the designated designated point. a designation control unit for displaying, at a designated point on the mesh data, a designated point image indicating the designated point;
When a plurality of specified points are specified, based on the three-dimensional position information of the specified points in the geographic coordinate system, a sectional view plotting the specified points when viewed from the horizontal direction is created and displayed. a creation control unit that
measurement system. When displaying two pieces of mesh data, if there is an overlapping portion in the two mesh data, the display control unit deletes the overlapping portion of one of the mesh data, and displays the deleted one mesh data and the other mesh data. display the mesh data,
The measurement system according to claim 1. The display control unit uses predetermined conversion information to convert three-dimensional position information in a geographical coordinate system of each vertex of the mesh data into two-dimensional position information in a camera coordinate system of the captured image,
The designation control unit uses the conversion information to convert camera coordinate system two-dimensional position information of a point on the mesh data corresponding to the designated point into geographic coordinate system three-dimensional position information of the designated point.
The measurement system according to claim 1 or 2. A measurement method for a measurement system equipped with a mobile terminal device attached with a three-dimensional laser scanner and a camera facing the same direction,
a first acquisition control step of acquiring three-dimensional point cloud data of a measurement target area by the three-dimensional laser scanner;
a second acquisition control step of acquiring a captured image of a two-dimensional image showing the measurement target area by the camera;
converting the three-dimensional point cloud data into geographic coordinate system three-dimensional point cloud data expressed in a geographic coordinate system using geographic coordinate system position information acquired by a position communication device attached to the mobile terminal device; a conversion control process of
a second conversion control step of meshing the surface of the shape represented by the geographical coordinate system three-dimensional point cloud data and converting it into mesh data composed of polygons and representing the surface of the measurement target area;
a display control step of superimposing the mesh data in the captured image by associating the geographic coordinate system of the mesh data with the camera coordinate system of the captured image, and displaying any point of the mesh data in a specifiable manner;
When a predetermined designated point is designated, the geographical coordinate system three-dimensional position information of the designated point is obtained based on the camera coordinate system two-dimensional position information of the point on the mesh data corresponding to the designated designated point. a designation control step of displaying, at a designated point on the mesh data, a designated point image indicating the designated point;
When a plurality of specified points are specified, based on the three-dimensional position information of the specified points in the geographic coordinate system, a sectional view plotting the specified points when viewed from the horizontal direction is created and displayed. a creation control process to
A measurement method comprising

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