JP2963419B2 - Attitude change measuring device for aircraft-mounted photography equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for calculating a posture change of an object moving relatively to an aircraft from a photographed image.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a change in posture of a photographing device in order to remove an influence on a photographed image due to a change in posture of a photographing device mounted on an aircraft, that is, an aircraft.

[0002]

2. Description of the Related Art To calculate the amount of change in posture of an object moving relatively to an aircraft without adding any measuring device to the object and from images of a small number of photographing equipment,
The following technologies are conceivable. The arrangement relationship between the photographing position of the photographing device mounted on the aircraft and the photographing position is determined in advance, and the photographing is performed so that the corresponding point exists in the photographed image. Note that an image in a video image of the corresponding point is referred to as a reference point to distinguish it from the corresponding point in the real space. The posture change of the object to be photographed can be obtained by calculating a relative movement amount from the reference point.

However, in the above-described calculation of the posture change, in order to analyze the amount of change in the posture of the object from the video, it is necessary that the corresponding point and the photographing position be stationary.

Accordingly, in a method of calculating a posture change amount of an object using a reference point in a case where the photographing position itself is accompanied by a change in posture, in order to remove the influence of the change in the photographing position, a total result of the analysis is required. It is conceivable to perform statistical processing or to prepare a device for measuring the amount of change in the posture of the shooting position and post-process the influence on the video. In such a case, the accuracy of the processing result is reduced in the former case, and additional equipment is required in the latter case.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention does not perform statistical processing and therefore does not include an error at the time of statistical processing. It is an object of the present invention to provide an attitude change measuring device of an on-board image capturing apparatus that utilizes knowledge of attitude change between a reference point and an image capturing position without imposing restrictions on image capturing conditions such as adding an image.

[0006]

According to the present invention, there is provided an attitude change measuring device for an aircraft-mounted photographic device, comprising: a plurality of corresponding points forming a part of an aircraft on which the photographic device is mounted; A video input unit for sequentially inputting video images of moving objects, displaying a video input from the video input unit, designating a position where the corresponding point is displayed as a reference point, and displaying a video image in the vicinity thereof A reference point extracting unit for extracting data; a reference point specification corresponding unit for outputting positional relationship information between corresponding points corresponding to the extracted reference points, coordinate values of the reference points, and identification names of the corresponding points; And a posture change information unit having, as a data base, a two-dimensional change amount obtained by converting a corresponding point into a photographed image with respect to a three-dimensional position change of a photographing position of the photographing device; and a reference point specification corresponding unit. Positional relationship between the corresponding points of The database of the posture change information section for the corresponding point is selected based on the information and the identification name, and the change amount of the reference point from the shooting start point is calculated based on the coordinate value of the reference point, and the change amount of the reference point is corresponded. The data base is searched with the change amount of the reference point assuming the two-dimensional change amount converted into the coordinate of the captured image of the point, and the three-dimensional position change of the shooting position corresponding to the two-dimensional change amount of the corresponding point is output. A change amount processing unit for sequentially obtaining a change amount from the start video,
It consists of

[0007]

The attitude change measuring device for an airborne photographic device according to the present invention operates as follows. The image input unit sequentially inputs images of moving objects to be analyzed. The video is
This is an image of a corresponding point as a reference point on an aircraft on which an imaging device is mounted, and an object moving relatively to the aircraft. The reference point extracting unit displays the image input from the image input unit, and the operator operates the reference point extracting unit to display the image corresponding to the corresponding point representing the feature point of the aircraft from the image. Specify a reference point. When a reference point is specified, data near the position including the reference point is extracted. For the extracted reference point data, the reference point specification correspondence unit obtains the positional relationship between the corresponding points displayed by the reference point, associates them with the coordinate values of the reference points, and furthermore, Is output with an identification name to distinguish. The change amount processing unit selects a database for the corresponding point included in the posture change information unit based on the positional relationship information between the corresponding points from the reference point specification corresponding unit and the identification name, and performs photographing based on the coordinate value of the reference point. Calculate the amount of change of the reference point from the starting point. At this time, assuming that the change amount of the reference point is a two-dimensional change amount that is coordinate-converted into a captured image of the corresponding point, the database is searched using the change amount of the reference point, and the two-dimensional change amount of the corresponding point is calculated. The three-dimensional position change of the corresponding photographing position is output. Processing is performed on sequentially input images to determine a time-series change amount of the shooting position from the start image.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a functional block diagram showing the configuration of the attitude change measuring device for an aircraft-mounted photographing device according to the present invention.

Reference numeral 101 denotes a video input unit for sequentially inputting video images of corresponding points forming a part of an aircraft on which an imaging device is mounted and an object moving relatively to the aircraft,

A reference point extracting unit 102 for displaying an image input from the image input unit 101, designating a position at which the corresponding point is displayed as a reference point, and extracting video data in the vicinity thereof;

A reference point specification unit 103 for outputting positional relationship information between corresponding points corresponding to the extracted reference points, coordinate values of the reference points, and identification names of the corresponding points;

Reference numeral 104 denotes a coordinate conversion of a corresponding point into a photographed image with respect to a three-dimensional position change of the photographing position of the photographing device.
Posture change information section that has the dimension change amount as a data base,

Reference numeral 105 denotes a database of the attitude change information unit 104 for the corresponding point based on the positional relationship information between the corresponding points from the reference point specification corresponding unit 103 and the identification name, and the coordinate value of the reference point. , The change amount of the reference point from the shooting start point is calculated, and the change amount of the reference point is regarded as a two-dimensional change amount obtained by converting the coordinate of the reference point into a shot image of the corresponding point, and the data base is calculated using the change amount of the reference point. Search and
A change amount processing unit that outputs a three-dimensional position change of a shooting position corresponding to a two-dimensional change amount of a corresponding point and sequentially obtains a change amount from a start image.

FIG. 2 is a view showing a configuration of an apparatus for observing a change in attitude when an object is dropped from an aircraft, and FIG. 3 is a view showing an image photographed by observing a change in attitude when an object is dropped. . In FIG. 2, reference numeral 201 denotes an aircraft, 202 denotes a dropped object as an object, 203 denotes a photographing camera as a photographing device mounted on a predetermined place in aviation, and a and b denote corresponding points forming a part of the aircraft. In FIG. 3, reference numeral 202 denotes a dropped object, and a 'and b' are reference points which are captured images of the corresponding points a and b.

An image as shown in FIG. 3 is taken into the image input unit 101 as a digital image. When the operator designates the reference points a ′ and b ′ from the captured video by using, for example, a mouse, the reference point extraction unit 102 extracts information near the designated coordinate value as a feature point.

The reference point specification correspondence section 103 sets the related attributes for the extracted reference points a ′ and b ′ on the corresponding points a and b in FIG. 2 on the photographing specification model. That is, the relative position information (for example, the coordinates in the x, y, and z directions) between the photographing camera and a plurality of corresponding points is stored in the reference point specification corresponding unit 103 in advance, and model data of a three-dimensional database that can be referred to is stored. A base 103a (that is, a photographing specification model) is provided, and the model data base 103a is referred to by using information of the feature points of the extracted reference points a ′ and b ′, and the corresponding corresponding points a and b are referred to. Relative position information can be searched.
The relative position information of the searched corresponding points a and b is, as described above, the coordinate values and the corresponding points on the captured video screen of the reference points a ′ and b ′ specified by the operator with the mouse and corresponding to the corresponding points a and b. Are attached, that is, the position information of the corresponding points a and b, the coordinate values of the reference points a ′ and b ′, and the related attributes of the identification names of the corresponding points are set and output. Identification names include:
The sequence name is used.

The change amount processing unit 105 calculates a change amount (two-dimensional coordinate value) from the initial position of the photographing start point based on the coordinate values of the reference points a 'and b' of the related attribute. The initial position of the photographing start point is a known position of the reference points a ′ and b ′ in which the photographing camera 203 and the corresponding points a and b are photographed in the reference state in advance. Further, the relative position information of the corresponding points a and b from the reference point specification corresponding unit 103 and the identification names of the corresponding points are sent to the posture change information unit 104, and the data regarding the corresponding points a and b are transmitted.
Select a base. The posture change information unit 104 includes a two-dimensional change obtained by performing coordinate transformation on the photographed image of the corresponding points a and b in a state where the posture of the photographing position of the photographing camera 203 in FIG. The result of dynamically calculating the quantity in advance is possessed as a database for each corresponding point. Therefore, the change amounts of the reference points a ′ and b ′ calculated as described above are regarded as the two-dimensional change amounts of the corresponding points a and b that are coordinate-transformed into the captured images, and the change amounts of the reference points a ′ and b ′ are determined. Search by matching with corresponding points a and b in the database. By this search, three-dimensional position change candidates of the photographing position corresponding to the two-dimensional change amounts of the corresponding points a and b are obtained. At this time, if there are a plurality of candidates, the history of the change from the shooting start point (that there is no extreme change in attitude from the immediately preceding shot video, the calculation error of the data base of the attitude change information unit 104, etc. Is determined in consideration of the above condition). The posture change of the shooting position with respect to the determined candidate is obtained from the data base.

In the same manner, sequentially input images are processed, and the change amount processing unit 105 can obtain a time-series change amount of the shooting position from the start image.

[0019]

As described above, according to the present invention, the posture change amount on the observation side is configured to be processed as the posture change information on the data base. Therefore, when the posture of the object is measured on each image, It is possible to reduce the cost without adding a device that removes the effects in advance, statistically processes the analysis results and measures the data at the time of imaging, and reduces the processing time and accuracy without including errors due to statistical processing. There is an effect that a high thing can be obtained.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a configuration of an attitude change measuring device for an on-board imaging device according to the present invention.

FIG. 2 is a diagram showing a configuration of an apparatus for observing a change in posture when an object is dropped from an aircraft.

FIG. 3 is a diagram showing an image captured by observing a change in posture when an object is dropped.

[Explanation of symbols]

101: video input unit, 102: reference point extraction unit, 103 ...
Reference point specification corresponding part, 103a ... model database,
104: posture change information unit, 105: change amount processing unit, 20
Reference numeral 1 denotes an aircraft, 202 denotes a dropped object (object), 203 denotes a photographing camera (photographing device), a and b correspond to points, a ′ and b ′ reference points.

Continued on the front page (72) Inventor Masakatsu Terashima 345 Kamimachiya, Kamakura City, Kanagawa Prefecture Inside Mitsubishi Precision Co., Ltd. (56) References JP-A-62-284214 (JP, A) (58) Fields investigated (Int. Cl ^6, DB name) G01C 15/00 -. 15/14 G01B 11/00 - 11/30 102 G06T 7/00

Claims (1)

(57) [Claims] An image input unit for sequentially inputting images of a plurality of corresponding points constituting a part of an aircraft on which an imaging device is mounted, and an image of an object moving relatively to the aircraft; A reference point extracting unit that displays a video input from the input unit, specifies a position at which the corresponding point is displayed as a reference point, and extracts video data in the vicinity thereof, and a correspondence corresponding to the extracted reference point. A reference point specification corresponding unit that outputs positional relationship information between points, the coordinate value of the reference point, and the identification name of the corresponding point; and captures a corresponding point in response to a three-dimensional change in the capturing position of the capturing device. The two-dimensional change amount converted to the image is
A posture change information section provided as a base, and a database of the posture change information section for the corresponding point is selected based on positional relationship information between the corresponding points and the identification name from the reference point specification corresponding section, The change amount of the reference point from the shooting start point is calculated based on the coordinate value, and the change amount of the reference point is regarded as a two-dimensional change amount obtained by converting the coordinate of the reference point into a shot image of the corresponding point. A change amount processing unit for searching a base and outputting a three-dimensional position change of a photographing position corresponding to a two-dimensional change amount of a corresponding point, and sequentially obtaining a change amount from a start video; For measuring the change in posture of camera equipment.