JP3441657B2 - Image point setting device and photogrammetry method using the image point setting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image point setting device used for photogrammetry and a photogrammetric method using the image point setting device.

[0002]

2. Description of the Related Art As a photogrammetric method used in a traffic accident investigation, for example, there is a method of obtaining three-dimensional coordinates of a subject from a plurality of stereo photographs. In this photogrammetric method, a subject is imaged in common on a plurality of images, and two-dimensional orthogonal coordinates whose origin is the imaging center are set in each image. Then, the relative positional relationship between the two-dimensional coordinate values of the image points in each image corresponding to the object point on the subject and the plurality of images, for example, the relative three-dimensional position of the photographing position and the three axes of the photographing optical axis. The three-dimensional coordinate value of the object point is obtained based on the rotation angle of, and the subject image is drawn based on the three-dimensional coordinate value of the object point.

For example, when drawing a continuous line such as a lane of a road,
First, two points on the line were determined, the two-dimensional coordinate values of the corresponding image points in the two images were obtained, and the three-dimensional coordinate values of the two points were obtained based on the two-dimensional coordinate values of each image point. After that, a straight line is drawn connecting these two points. In order to draw a precise subject image, it is necessary to accurately obtain the two-dimensional coordinate values of the image points in each image, but in the case of a continuous line that is a subject with no end points, the continuous line on each image It is difficult to accurately determine the image point corresponding to the object point.

For example, photographing is performed by using two stereo cameras whose positions in the X and Y axis directions are fixed, and these two images are displayed on the left and right of one monitor. When an image point on a continuous line in one image is set on the monitor, an epipolar line indicating the distance from the camera to this image point in the Z axis direction is displayed on the other image, and the epipolar line is continuous. The intersection with the line is determined as the image point corresponding to the set image point on the one hand.

[0005]

However, in shooting with a stereo camera fixed in the X and Y axis directions, there is no degree of freedom in the shooting position, and there are cases in which an image necessary for drawing cannot be obtained. On the other hand, if the three-dimensional positions of the two images are freely set in all three axial directions, the image points cannot be set using the epibola line, and the object points on the continuous line cannot be determined. In this case, markers must be installed on the continuous line at appropriate intervals before imaging to prepare object points along the continuous line. When drawing a plurality of continuous lines, a plurality of continuous lines must be drawn. This means that markers must be installed on each.

Therefore, the object of the present invention is made in view of such a point, and it is possible to appropriately set an image point on a continuous line without setting a marker on the continuous line. A point setting device and a surveying method using the image point setting device.

[0007]

An image point setting device according to the present invention takes an image of a subject having a continuous line from at least two different positions, and a first recorded image taken from the first position and a first recorded image. Image capturing means for obtaining a second recorded image photographed from the second position; image display means for representing the subject images in the first and second recorded images in a two-dimensional orthogonal coordinate system; In the second recorded image, the first two-dimensional coordinate value of the first image point corresponding to the first object point on the subject and the second image point corresponding to the second object point on the subject is obtained. Image point setting means, straight line determining means for connecting the first image point and the second image point in the first and second recorded images to determine a straight line, and in the first and second recorded images, A third image in which the intersection of the straight line and the continuous line corresponds to the third object point on the continuous line. And a point, and further comprising a second image point setting means for obtaining a two-dimensional coordinate value of the third image point.

In the image point setting device, preferably, the two-dimensional Cartesian coordinate system has the image pickup center as the origin.

In the image point setting device, preferably, the image display means displays the image point to be set in a color different from the display color of the image point which is not set. More preferably, the color data of the set image point is inverted by the first and second image point setting means, and the display color of the set image point is converted into a complementary color of the display color not set. .

In the photogrammetric method according to the present invention, the two-dimensional coordinates of the first, second and third image points in each image obtained by the image point setting device and the predetermined first and second positions are determined. The three-dimensional coordinates of the first, second, and third object points are obtained from the relative three-dimensional movement amount in the three-dimensional rectangular coordinate system.

In the photogrammetric method, preferably, the relative three-dimensional movement amount is the movement amount in the three-axis directions with respect to the first position of the second position and the rotation angle of the photographing optical axis around the three axes. Including. More preferably, the three-dimensional coordinates of the first, second, and third object points are obtained by using the collinear equation.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a photogrammetry method using an image point setting device according to the present invention will be described below with reference to the accompanying drawings.

Referring to FIG. 1, a perspective view of a portion of a roadway to be photogrammetrical according to the present invention is shown. In the figure, as continuous lines to be drawn on the survey map, lane lines are indicated by reference signs CA, CB and CC on the roadway,
Lane lanes CA and CB are side lane lines, and lane line CC is a central lane line.

As shown in FIG. 1, a standard scale SC in the form of an equilateral triangle is installed on the road to be photogrammetrically measured.
The three vertices P ₁ , P ₂ and P ₃ of the reference scale SC are used as reference points, and the known distance L therebetween is used for scaling when creating a survey map. Further, the plane determined by the _three reference points P ₁ , P ₂ and P _{3 of} the reference scale SC can be used as the reference plane when creating the survey map.

In FIG. 1, some object points along the outside of the roadway are designated by the reference signs P ₄ , P ₅ , P ₆ , P ₇ and P ₈ ,
These object points are appropriately selected as prominent image points. For example, object point _{P 4, P 5, P 6} , P 7 and the base of the guardrail posts and labeled columns each P ₈ is along the road, or portions noticeable on the roadway surface suitable buildings along the road, further May be a prominent pebble along the roadway or a location defined by a suitable article. If there are no suitable points along the roadway, suitable markers may be suitably placed, preferably along the outside of the roadway.

As shown in FIG. 1, reference numeral 1 indicates a survey site.
Images are taken from different directions by the electronic still camera 10 indicated by 0. That is, the surveying site is photographed at the first photographing position M ₁ and then at the second photographing position M ₂ , and the photographed images obtained at these photographing positions M ₁ and M ₂ are image data for one frame, respectively. Is stored in an appropriate memory medium such as an IC memory card together with other data (for example, shooting condition data at the time of shooting). The IC memory card is removably loaded in the electronic still camera 10. First and second photographing position M ₁ and M ₂ are those defined as rear principal point position of the electronic still camera 10, for example, also the first and second camera at the photographing position M ₁ and M ₂ The optical axes are designated by reference numerals O ₁ and O _2, respectively.
Indicated by.

Referring to FIG. 2, a photogrammetric system according to the present invention is shown as a block diagram, which is configured as a computer system 12 having a photogrammetric program installed therein. The computer system 12 includes an IC memory card reader 14,
The IC memory card reading device 14 is loaded with an IC memory card taken out from the electronic still camera 10. Further, the computer system 12 includes a TV monitor device 16 and reads out the image data obtained at the first and second photographing positions M ₁ and M ₂ from the IC memory card,
Based on the image data, the photographed images at the _first and _second photographing positions M ₁ and M ₂ are simultaneously displayed on the TV monitor device 16.

More specifically, the photogrammetry system 12 configured as a computer system is provided with a system controller 18, which is a central processing unit (CPU), programs for executing various routines, constants, etc. Is a read-only memory (ROM) for storing data, a writable / readable memory (RAM) for temporarily storing data and the like, and an input / output interface (I / O). The IC memory card reader 14 is operated under the control of the system controller 18 to read image data from the IC memory card. Further, the photogrammetry system 12 includes a monitor display memory 20 and a video process circuit 22.
The image data read from the IC memory card is once expanded on the monitor display memory 20, a series of video signals is created by the video process circuit 22 based on the image data, and based on the series of video signals. The images taken at the _first and _second shooting positions M ₁ and M ₂ are displayed on the TV.
For example, they are displayed side by side on the monitor device 16.

The photogrammetry system 12 is further provided with an arithmetic processing memory 24, and the arithmetic processing memory 24 is used by the system controller 18 when executing the photogrammetry program.
It is used when performing various calculations. Further, the photogrammetry system 12 includes a keyboard 25 and a mouse 28 used as input means when executing the photogrammetry program, and various command signals and various data are input to the system controller 18 via the keyboard 25. Further, the pointer (cursor) on the display screen of the TV monitor 16 is manually operated by the mouse 26. Reference numeral 28 indicates a click button on the mouse 26.

Referring to FIGS. 3 and 4, the image G ₂ taken at the first imaging position M ₁ in the photographed image G ₁ and the second photographing position M ₂ are shown respectively, both these images G ₁ and G ₂ are the TV monitor device 16 as described above.
They are displayed side by side at the same time. That is, the first
Image G ₁ is an image reproduced on the TV monitor device 16 based on the image data taken at the _first shooting position M ₁ , and the second image G ₂ is taken at the second shooting position M _2. It is an image reproduced on the TV monitor device 16 based on the image data.

As shown in FIG. 3, a first two-dimensional Cartesian coordinate system (x ₁ -y ₁ ) is set in the first image G ₁ ,
The coordinate origin c ₁ is the image center of the first image G ₁ (that is,
Point passing through the optical axis O ₁ ). In the first image G ₁ , the object points P ₁ , P ₂ , P ₃ , P ₄ , P ₅ , P ₇ and P ₈ shown in FIG. 1 are respectively image point coordinates p ₁₁ (px ₁₁ , py ₁₁ ), p
₁₂ (px ₁₂ , py ₁₂ ), p ₁₃ (px ₁₃ , py ₁₃ ), p ₁₄
(Px ₁₄ , py ₁₄ ), p ₁₅ (px ₁₅ , py ₁₅ ), p
₁₆ (px ₁₆ , py ₁₆ ), p ₁₇ (px ₁₇ , py ₁₇ ), p ₁₈
The lane lines CA, CB and CC shown as (px ₁₈ , py ₁₈ ) and shown in FIG.
_{It is represented by 1} , Cb ₁ and Cc ₁ .

As shown in FIG. 4, a second two-dimensional Cartesian coordinate system (x ₂ -y ₂ ) is set in the second image G ₂ ,
The coordinate origin c ₂ is the image center of the second image G ₂ (that is,
(A point passing through the optical axis O ₂ ). In the second image G ₂ , the object points P ₁ , P ₂ , P ₃ , P ₄ , P ₅ , P ₇ and P ₈ shown in FIG. 1 are respectively image point coordinates p ₂₁ (px ₂₁ , py ₂₁ ), p
₂₂ (px ₂₂ , py ₂₂ ), p ₂₃ (px ₂₃ , py ₂₃ ), p ₂₄
(Px ₂₄ , py ₂₄ ), p ₂₅ (px ₂₅ , py ₂₅ ), p
₂₆ (px ₂₆ , py ₂₆ ), p ₂₇ (px ₂₇ , py ₂₇ ), p ₂₈
The lane lines CA, CB and CC shown as (px ₂₈ , py ₂₈ ) and shown in FIG.
₂ , indicated as Cb ₂ and Cc ₂ .

Referring to FIG. 5, there is shown a relative three-dimensional positional relationship between the scale SC, the first image G ₁ and the second image G ₂ . To specify the three-dimensional positions of the three object points of the equilateral triangle scale SC, that is, the reference points P ₁ , P ₂ and P _{3 and} the three-dimensional positions of the object points P ₄ , P ₅ , P ₇ and P _8. , It is necessary to set an appropriate three-dimensional coordinate system for the first Cartesian coordinate system (x ₁ -y ₁ ) and the second two-dimensional Cartesian coordinate system (x ₂ -y ₂ ). In the example shown in FIG. 3, a three-dimensional Cartesian coordinate system (XYZ) having a coordinate origin (0, 0, 0) at the first imaging position M ₁ is used, and its Z axis is the first axis.
Of the three-dimensional orthogonal coordinate system is aligned with the optical axis O ₁ of the photographing position _{M 1 (X-Y-Z} ) is set.

A three-dimensional rectangular coordinate system (XY-Y-
Z), the three-dimensional coordinates of the _second shooting position M ₂ are M ₂
This three-dimensional coordinate M is represented by (X ₀ , Y ₀ , Z ₀ ).
₂ (X ₀ , Y ₀ , Z ₀ ) represents the displacement amount of the second shooting position M ₂ with respect to the three-dimensional coordinates ( ₀ , ₀ , ₀ ) of the first shooting position M ₁ . Also, three-dimensional angular coordinate of the optical axis O ₂ at the second imaging position M ₂ is _{O 2 (α 0, β 0} , γ 0) is indicated by, the three-dimensional angle coordinates O ₂ (alpha _0, beta ₀ , Γ ₀ ) represents the rotation angle of the optical axis O ₂ with respect to the optical axis O ₁ . That is, α ₀ represents an angle formed with the X-axis of the three-dimensional Cartesian coordinates, β ₀ represents an angle formed with the Y-axis of the three-dimensional Cartesian coordinates, and γ ₀ represents the Z of the three-dimensional Cartesian coordinates.
Indicates the angle formed with the axis.

Furthermore, the three-dimensional rectangular coordinate system (X-
YZ), P ₁ (PX ₁ , PY ₁ , PZ ₁ ), P for each of the three-dimensional coordinates of the three object points of the equilateral triangular scale SC, that is, the reference points P ₁ , P _2, and P _{3. 2} (P
X ₂ , PY ₂ , PZ ₂ ) and P ₃ (PX ₃ , PY ₃ , P
Z ₃ ). Although not shown in FIG. 5, other object points P ₄ , P ₅ , P _7, and P ₈ are also shown in the same manner. That is, in the three-dimensional Cartesian coordinate system of FIG.
For object points P ₁ , P ₂ , P ₃ , P ₄ , P ₅ , P _7, and P ₈ , P _j (PX _j , PY _j , PZ _j ) (j = 1 _, 2 _,
3, ...).

As is apparent from FIG. 5, the standard scale SC 3
One reference point (P _j ) and its first or second image G ₁
And the image point coordinates (p _ij ) on G ₂ and the first or second imaging position (M ₁ , M ₂ ) are located on a straight line. For example, the reference point P ₁ and the image point coordinate p on the _first image G _1
11 and the first shooting position M ₁ are located on a straight line, while the reference point P ₁ , its image point p ₂₁ on the _second image G ₂ and the second shooting position M ₂ are directly aligned. Located on the line. Therefore, the three-dimensional coordinates P _j (PX _j , PY _j , P) of the object point described above are
Z _j ) can be obtained using the following collinear equation (1).

[0027]

[Equation 1] It should be noted that C in the above formula (1) is the principal point distance (focal length) of the taking lens of the camera 10, and the first and second images G ₁
And G ₂ have the same value. That is, the principal point distance C is the distance between the first photographing position (rear side principal point position) M ₁ and the image center c _{1 of} the first image G ₁ , and the second photographing position (rear side principal point position). It is also the distance between the point position) M ₂ and the image center c _{2 of} the second image G ₁ . Further, in the above formula (1), "i" represents an image number, "1" for the first image G ₁ , "2" for the second image G ₂ , and "j" object point number. And corresponds to the number of object points (P _j ).

Although obtaining the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) using the above-mentioned collinear equation (1) is well known, its operation principle will be briefly described below.

First, the first image G ₁ and the second image G ₂
Image point coordinates p _1j of the corresponding object point P _j to each other above (px _1j,
py _1j ) and image point coordinates p _2j (px _2j , py _2j ) are sequentially substituted into the collinear equation (1), and the collinear equation (1) is solved by the iterative approximation method to obtain the object point P _j Three-dimensional coordinate P
_j (PX _j , PY _j , PZ _j ), the three-dimensional coordinate M ₂ (X ₀ , Y ₀ , Z ₀ ) of the second photographing position M _{2 and} the three-dimensional angular coordinate of the optical axis O ₂ are O ₂ (α. ₀ , β ₀ , γ ₀ ) is obtained as an approximate value. The iterative solution method means unknown variables M ₂ (X ₀ , Y ₀ , Z ₀ ) and O ₂ (α ₀ , β ₀ , of the collinear equation (1).
γ ₀ ) is an appropriate initial value (excluding 0), Taylor expansion is performed around this initial value to linearize, and the correction amount of the unknown variable is obtained by the least square method. By repeating the above, an approximate value with less error can be obtained. In order to obtain a sufficiently approximated unknown variable, it is necessary to repeat the approximation operation at least 3 times or more, preferably 5 times or more. In the present embodiment, a total of eight object points P _j are given, and thus sufficiently approximated unknown variables are obtained. Of course, such an approximate calculation can be quickly performed by the computer system 12.

The values of the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) of the object point P _j obtained by the above-mentioned approximate calculation are relative, and therefore the reference point of the scale SC. Since the distance between them also becomes a relative value, such distance is shown as L'in FIG. Therefore, the object point P _j
In order to correct the relative distance between the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) of P to the actual distance, it is necessary to obtain the correction magnification m and perform scaling. m is calculated by the following calculation. m = L / L '

Referring to FIGS. 6 and 7, there is shown a flow chart of a survey map creation routine for creating a survey map using the image point setting device according to the present invention. The survey map creation routine is executed by the system controller 18 of the photogrammetry system, that is, the computer system 12.

First, in step S202, the image data written in the monitor display memory 20, that is, both image data obtained at the first photographing position M ₁ and the second photographing position M ₂ are the video process circuit 22. Is output to
Therefore, the image data is made into a series of video signals, and the first image G ₁ and the second image G ₂ are displayed on the TV monitor device 16 based on the series of video signals as shown in FIGS. 3 and 4, respectively. They are displayed side by side on the screen at the same time.

In step S204, the image points p _ij corresponding to each other on the first image G ₁ and the second image G ₂ are set by the pointer (cursor) by operating the mouse 26, whereby the first image G ₁ and the second image G ₂ are set. The two-dimensional coordinate data of each of the image points p _ij on G ₁ and the second image G ₂ is taken into the arithmetic processing memory 24. At this time, it is preferable to make the color of the image point of the image point p _ij stand out on the display screen by, for example, inverting the color of the image point to the complementary color.

In step S206, four derived straight lines as shown in FIG. 8 are added to the first image G ₁ based on the two-dimensional coordinate data of each image point p _ij taken in the arithmetic processing memory 24. l ₁₁ , l ₁₂ , l ₁₃ and l ₁₄ (indicated by dashed lines in the figure) are displayed, while the second image G ₂ also includes four derived straight lines l ₂₁ , l ₂₂ as shown in FIG. , L ₂₃ and l ₂₄ (indicated by a chain line in the figure) are displayed, and the respective derivation lines (l _{i1 to} l _i4 ) on the first image G ₁ and the second image G ₂ are formed. All the coordinate values of the image points are stored in the arithmetic processing memory 24. In the present embodiment,
As is clear from FIGS. 8 and 9, the image point p _i4 and the image point p _i5
Between the image points p _i5 and p _i6 , between the image points p _i6 and p _i6
Derived straight lines (l _{i1 to} l _i4 ) are displayed as zigzag line segments between _i7 and between image point p _i7 and image point p _i8. The advantage of such zigzag display is as follows. It will be described later. In FIGS. 8 and 9, the reference scale SC is omitted in order to avoid complication of the drawing.

At step S208, the lane lines (Ca ₁ , Cb ₁ , on the first image G ₁ and the second image G ₂ )
Cc ₁ ; Ca ₂ , Cb ₂ , Cc ₂ ) are extracted, and the extracted lines are extracted from the respective images (G ₁ ,
G ₂ ) is displayed (FIGS. 8 and 9). The determination of these extraction lines is performed by a well-known method such as differential processing or binarization processing. That is, a set of continuous image points is determined as the extraction line, and the coordinate value of each image point forming the determined extraction line is stored in the arithmetic processing memory 24. If there are a plurality of sets of a series of image points, each set is extracted independently.

In step S210, each image G _i (i =
In 1, 2), and the coordinate values of the object point p _ij stored in the arithmetic processing memory 24, the coordinate values of each image point constituting the derived straight line (l _i1 to l _i4), extraction line (Ca _i , Cb _i ,
Based on the coordinate values of the image points constituting a cc _i), derived straight line on each image G _i (l _i1 ~l _i4) and extraction line (Ca _i,
The coordinates p _ij (px _ik , py _ik ) of the intersection p _ij (j = 9 to 20) with Cb _i , Cc _i ) are obtained, and at this time, the intersection p _ij
With respect to the above, it is preferable that the color is displayed by blinking on the TV monitor device 16, or the color of the intersection point p _ij is inverted to the complementary color with respect to the background color. Note that, in FIGS. 8 and 9, for convenience of illustration, the intersection points p _ij are indicated by small white circles.

In this embodiment, as is clear from FIGS. 8 and 9, the derived straight lines (l _{i1 to} l _i4 ) are displayed in a zigzag pattern, and the derived straight lines are all extracted lines (Ca.
_i , Cb _i , Cc _i ) and the intersection point p
_ij are regularly generated to facilitate the observation of each image G _i, and as many intersections p _ij are generated as possible. Thus, in each image G _i , a total of 20 image points p _ij are obtained as the object point coordinates p _ij .

In step S212, the collinear equation (1) is used to obtain the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) of all the image points p _ij , and the approximation operation as described above is performed. Is done. Three-dimensional coordinates P _j (PX of all image points p _{ij
When j} , PY _j , PZ _j ) is obtained, in step S214, the correction magnification m is set in order to convert the relative distance between the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) into the actual distance. Based scaling is performed.

In step S216, the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) of all image points p _ij are
Coordinate conversion from the three-dimensional Cartesian coordinate system (X-Y-Z) to the three-dimensional Cartesian coordinate system (X'-Y'-Z ') as shown in FIG. 10 is performed. As is apparent from FIG. 10, the coordinate origin of the three-dimensional orthogonal coordinate system (X'-Y'-Z ') is made to coincide with the reference point P ₁ of the scale SC, and its X'axis is the reference point P 1.
It is made to coincide with the straight line connecting ₁ and P ₂ , and its X '
The -Z 'plane is made coincident with the plane Ps containing the reference plane defined by the reference points P ₁ , P ₂ and P ₃ . In addition,
As the origin of the three-dimensional Cartesian coordinate system (X'-Y'-Z '),
Although the reference point P ₁ is selected for convenience, it is possible to select any point on the plane Ps.

In step S218, the three-dimensional coordinates P _j (PX _j , PY _j , PZ _j ) of the image point p _ij after the coordinate conversion are projected on the X'-Z 'plan view, that is, the plane Ps, and the projection surface thereof is projected. Is displayed as a survey map on the display screen of the TV monitor device 16 as shown in FIG. In this embodiment, the plane Ps is used as the plane of the survey map, but other planes, for example, the planes defined by the object points P ₄ , P _5, and P ₆ are the planes for the survey map. You can also do it.

In step S302, a continuous line to be drawn (in this embodiment, the lane lines CA, CB and C).
Is a straight line. If it is determined to be a straight line, the process proceeds to step S304, and if it is determined that the continuous line to be drawn is a curve, step S3.
Proceed to 14.

In step S304, it is selected whether the continuous line is a line segment, a half line, or a straight line. Note that, here, the line segment means a display screen on the TV monitor device 16 (see FIG.
1) A straight line having two endpoints on it, a half-line being a straight line having one endpoint on the display screen (FIG. 11) on the TV monitor device 16, and a straight line being a TV monitor device. 1
6 is a straight line passing through the display screen (FIG. 11) on the upper side and having no end points. When the type of continuous line is determined in step S304, the process proceeds to step S306, where at least two points on the straight line to be drawn are set. Then, in step 308, a straight line of a predetermined type is drawn on the display screen or survey map on the TV monitor device 16.

In step S310, it is judged whether or not the drawing process for the continuous line should be ended. If it is judged that the drawing process is ended, the main survey map creating routine is ended. On the other hand, if the drawing process should be further performed, the process returns to step 302 and the same routine is repeated.

In step S314, it is selected whether the curve to be drawn is a circle, a semicircle, or an arc. In step S316, at least two points on the selected curve are set. Then, in step S318, a predetermined type of curve is drawn on the display screen or survey map on the TV monitor 16. In the present embodiment, since the curve to be drawn is a circular arc, for example, image points P ₉ , P ₁₄ , P ₁₅ , P ₂₀
When is set, the lane line CA is drawn as shown in FIG. Then, the process proceeds to step S320, it is determined whether or not the drawing process for the continuous line should be ended, and when it is judged that the drawing process is ended, the main survey map creating routine is ended. On the other hand, if the drawing process should be further performed, the process returns to step 302,
A similar routine is repeated. That is, in the case of the present embodiment, the lane lines CB and CC are the TV monitor device 16
Will be sequentially drawn on the display screen.

As described above, in the present embodiment, the derived straight lines (l _{i1 to} l _i4 ) are displayed in a zigzag pattern, and the derived straight lines are all extracted lines (Ca _i , Cb _i , Cc _i ).
The intersection points p _ij are regularly generated to facilitate the observation of each image G _i and the intersection points p _ij are generated as many as possible, but the lane lines are changed to CA, CB and CC. In order to draw more accurately, it is necessary to further increase the number of intersections between the above-mentioned derived straight line and the extraction line. In such a case, a derived straight line other than the above-mentioned zigzag derived straight line, for example, the object point P It is also possible to draw a straight line between ₄ and the object point P ₇ or between the object point P ₅ and the object point P ₈ to increase the number of intersections.

[0046]

As is apparent from the above description, according to the present invention, an object point can be appropriately obtained even on a continuous line, so that continuous lines can be drawn quickly and accurately.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a part of a road as a place to be surveyed.

FIG. 2 is a block diagram of a photogrammetry system according to the present invention.

FIG. 3 is a schematic diagram showing a first image photographed at a first photographing position in FIG.

FIG. 4 is a schematic diagram showing a second image photographed at a second photographing position in FIG.

FIG. 5 is a perspective view showing a relative three-dimensional positional relationship among the reference scale, the first image, and the second image.

FIG. 6 is a part of a flowchart of a survey map creation routine according to the present invention.

FIG. 7 is the remaining part of the flow chart of the survey map creation routine according to the present invention.

FIG. 8 is a schematic view of a first image similar to FIG. 3, showing different display stages.

FIG. 9 is a schematic view of a second image similar to FIG. 4, showing different display stages.

FIG. 10 is a perspective view showing a projection surface of a survey map to be created according to the present invention.

FIG. 11 is a schematic diagram showing a surveying diagram displayed on the display screen of the TV monitor device.

12 is a schematic diagram similar to the schematic diagram of FIG. 11, showing a display stage different from that in FIG. 11;

[Explanation of symbols]

10 electronic still camera 12 Photogrammetry system 14 Memory card reader 16 TV monitor 18 system controller 20 Monitor display memory 24 Memory for arithmetic processing 26 mice SC standard scale

Continued Front Page (72) Inventor Atsushi Kida 2-36-9 Maenocho, Itabashi-ku, Tokyo Asahi Optical Industry Co., Ltd. (72) Inventor Shigeru Wakashiro 2-39 Maeno-cho, Itabashi-ku, Tokyo Asahi Optical Industry Co., Ltd. (56) Reference JP-A-10-143646 (JP, A) JP-A-8-297023 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 11 / 02 G01C 11/06 G01B 11/00 G06T 7/00 G01C 3/06

Claims (7)

(57) [Claims] 1. A first recorded image photographed from a first position and a second recorded image photographed from a first position by photographing a subject having continuous lines from at least two different positions. Image capturing means for obtaining the above, an image display means for expressing the subject images in the first and second recorded images in a two-dimensional orthogonal coordinate system, and a designating means for designating an arbitrary position within the display screen of the image display means. , Two-dimensional coordinate values of the first and second image points respectively corresponding to the first and second object points on the subject designated by the designating means in the first and second recorded images A first image point setting means, a straight line determination means for connecting the first image point and the second image point in the first and second recorded images to determine a straight line, the first and second In the second recorded image, A third image point corresponding to a third object point on the continuous line, and a second image point setting means for obtaining a two-dimensional coordinate value of the third image point. Image point setting device characterized by. 2. The image point setting device according to claim 1, wherein the two-dimensional orthogonal coordinate system has an image pickup center as an origin. 3. The image point setting device according to claim 2, wherein the image display means displays the set image points in a color different from the display color of the image points not set. . 4. The first and second image point setting means inverts the color data of the image point to be set, and the display color of the set image point is a complementary color of the display color not set. The image point setting device according to claim 3, wherein the image point setting device is converted into 5. The two-dimensional coordinates of the first, second, and third image points in each image obtained by the image point setting device according to claim 4, and the first and second positions. A photogrammetric method characterized in that the three-dimensional coordinates of the first, second, and third object points are respectively obtained by the relative three-dimensional movement amount in a predetermined three-dimensional orthogonal coordinate system. 6. The relative three-dimensional movement amount is the second
6. The method of photogrammetry according to claim 5, further comprising: a movement amount of the position of 3) with respect to the first position in three-axis directions and a rotation angle of the photographing optical axis around the 3 axes. 7. By using the formula (1), the first,
The photogrammetric method according to claim 6, wherein the three-dimensional coordinates of the second and third object points are respectively obtained. [Equation 1]