JP4418857B1 - Image acquisition system for generating 3D video of routes - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image acquisition means for a system for providing a landscape three-dimensional moving image of a linear target using a real image.
A database of images taken from multiple directions at high density from the sky above a linear target on the ground is created as a database, and an arbitrary viewpoint path and line-of-sight direction are supported with respect to the position of the linear target and its surroundings. In the landscape 3D moving image system, the searched image is searched from the database, and the searched image is generated into a continuous smooth 3D moving image by morphing processing corresponding to the parallax with the actual viewpoint. It is possible to efficiently acquire an image to be registered in the item specific to a linear target.
[Selection] Figure 6

Description

  The present invention is a system for generating a three-dimensional moving image of a ground target landscape such as a route, a passage, a river, and the like using a photograph taken from the sky, in particular, imaging the ground from various angles by an aircraft or the like. The present invention relates to a system for acquiring images.

    Conventionally, as a method of displaying a cityscape in 3D, a 3D model of a city building is created, and the wall of the building is pasted by texture mapping, and the obtained 3D city model is subjected to 3D image processing. There is a method for obtaining a three-dimensional video.

Another method is to set up a high-density mesh point in the air and on the corridor and build a system that can capture a wide range of multi-directional images from it. A system that searches for images with the smallest parallax when viewed from any viewpoint from any direction is built, and the image with the least parallax corresponding to the specified viewpoint, line of sight, and position in the city There is also a method for generating a smooth moving image continuously by morphing. (Patent Document 4) The feature of this method is that it takes a large amount of aerial photographs in a multi-viewpoint, multi-line-of-sight direction or street photographs in the city area in advance. With the rapid advancement of technology, aerial photography cameras using digital one-dimensional line sensors or two-dimensional image sensors have been put into practical use from analog aerial cameras.

Furthermore, due to the high performance of general-purpose digital cameras, it can be applied to the aerial photography field. Patent Document 1 proposes a system for creating an ortho image from an oblique photograph taken with a digital camera using dedicated software. In aerial photography for surveying purposes, a reference point was set on the ground in advance, and the camera position and orientation were calculated with reference to the reference point to obtain the coordinates of the feature. However, GPS (Global Positioning System) and IMU Equipped with an (Inertial Measurement Unit), it can measure the position and orientation of the camera at the time of imaging. (Patent Document 2) Patent Document 3 proposes a technique for capturing an aerial photograph for surveying with three CCD line sensors having different imaging directions.

The present invention relates to a method for efficiently acquiring an actual aerial photograph of a linear target with respect to a three-dimensional moving image generating system using an actual aerial photograph that becomes Patent Document 4 “3D animation amusement system of cityscape”. However, the method of Patent Document 4 requires that image metadata such as a shooting position, a shooting optical axis direction, a shooting optical axis rotation angle, and the like for each actual aerial photograph be accurately obtained. When real aerial photographs are acquired using GPS and attitude sensors with limited accuracy, the shooting position and shooting light using a map or high-resolution satellite orthoimage using the large overlap of images to be taken As methods for correcting image metadata such as an axial direction and a photographing optical axis rotation angle, there are Patent Documents 5 and 6.

JP 2002-357419 A. JP 2004-245741 A. Japanese Patent No. 2876222. Japanese Patent Application 2008-060351 Japanese Patent Application 2008-136125 Japanese Patent Application 2008-184349

However, the method of Patent Document 4 has the advantage that the man-hour for attaching the texture to the wall of the three-dimensional model of the city can be omitted. However, it is based on the premise that an image is acquired for an area having a two-dimensional spread. In particular, when acquiring images efficiently for a linear target such as a railway, a road, or a river and its peripheral part, there is a drawback in terms of efficiency.

As a result of diligent research in view of the above-mentioned problems to be solved, the present inventor obtained an aerial image in the method of Patent Document 4 as to how uniform and uniform the photo-taking optical axis vector from the air is on the target surface portion. It was designed for the purpose of high density distribution, but I noticed that it was not necessarily optimally designed for linear targets. In particular, when limited to a linear target, the problem is that the distribution of the photo-taking optical axis vector from the air does not concentrate evenly and densely only around the linear target. Efficiently optimizing the system for linear targets is a problem to be solved.

As a result of diligent research in view of the above problems, the inventor found that the distribution of the optical axis vector for photography from the air is concentrated evenly and densely only on the linear target and its peripheral part. The barrier is that there is no means for efficiently acquiring images corresponding to the shape of the linear target. Specifically, the configuration method of the digital camera assembly in the image acquisition system is linear. It came to recognize that it did not correspond to the target and that the flight path of the aircraft did not correspond to the linear target. For this reason, as a method for solving this problem, the present inventor firstly used an aerial photography as a method for distributing a flight optical path vector uniformly and densely to a linear target and its periphery in a flight path. I came up with the idea of setting the route symmetrically in the sky and left and right around the linear target.

Secondly, the construction method of the digital camera assembly is changed corresponding to the aircraft shooting route, and the distribution of the photo-taking optical axis vector from the air is concentrated uniformly and densely around the linear target and its surroundings. I did it. For this purpose, the digital camera assembly has a structure that is symmetric with respect to all downward directions, and a structure in which the distribution of the optical axis vector for photography is concentrated in the lower left or lower right in the flight direction. A structure that can be exchanged according to the flight path was prepared.

Thirdly, since the distribution of the optical axis vector for photography from the air around the linear target and its surroundings should be symmetrical with respect to the linear target, the present inventor has a lower left or right side in the flight direction. By rotating a digital camera assembly having a structure in which the distribution of the photo optic axis vector is concentrated downward on the plane by 180 degrees with respect to the flight path, the same digital camera assembly is moved to the lower left or lower right in the flight direction. In both cases, an image acquisition system that can concentrate the distribution of the optical axis vector for photography was constructed.

Fourth, since the aircraft image acquisition method according to the present invention has a large mutual overlap between the captured images at adjacent positions, it is possible to correct the mutual captured position and posture by automatic or manual alignment using tie points. . We constructed a system that can obtain accurate metadata for all acquired images by aligning the directly captured images with high-resolution ortho images or maps at regular intervals. This is an indispensable technique for practical use because the aircraft image acquisition apparatus according to the present invention has movable parts, but the accuracy of required metadata is high. In particular, GPS / INS is indispensable for cost reduction using low-priced equipment that cannot be applied to automatic piloting.

Fifth, as a general extension of the second and third, a plurality of airways are set in a long cylindrical shape that is not cylindrical so as to enclose the linear target symmetrically over the linear target. A structure in which the directivity direction and focal length of the digital camera constituting the digital camera assembly so as to be directed to the linear target and the periphery thereof from the air route can be changed in a movable manner corresponding to the air route An aircraft image acquisition system is built.

  As described above, according to the image acquisition system for generating a three-dimensional moving image of a route of the present invention, an aerial photograph for a three-dimensional moving image generating system using a real image with respect to a target having a linear shape. Can be obtained efficiently.

  The best mode for carrying out an image acquisition system for generating a three-dimensional moving image of a route according to the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a diagram for explaining the background technology, and the “image acquisition system for generating a three-dimensional moving image of a route” according to the present embodiment is used in the entire configuration of a “three-dimensional landscape moving image generating system”. It is a figure which shows positioning roughly. In addition, in Patent Document 4, the “three-dimensional landscape moving image generation system” is referred to as a “city landscape three-dimensional moving image amusement system”, but the content is the same. In the “cityscape 3D video amusement system” of Patent Document 4, there are a part for generating a 3D video of a cityscape from an aerial viewpoint and a part for generating a 3D video when the viewpoint is on the road. Although both cases are described here, the case where the viewpoint is on the road is not dealt with, so the graphic user interface system 180 common to both the part for generating the 3D animation of the cityscape from the aerial viewpoint and both. It only describes. A service is provided to the user 191 via the Internet or an intranet 190.

The aerial image database 140, the aerial image database 143, the aerial 3D video generation system 160, the aerial image search engine 165, and the graphic user interface system 180 of FIG. The content is the same as the content described in Patent Document 4.
The image acquisition system 110 for generating a three-dimensional moving image of a route is a part of the present invention. However, the aerial image acquisition system 100 for acquiring an aerial photograph in the air by an aircraft, the aerial image acquisition plan file 101 of components, and the aerial image The primary file 102, the aerial image database generation / registration system 120 for processing the acquired aerial photographs so as to be easy to use for generating a three-dimensional moving image and creating a database, the component DEM file 121, and the DGPS file 122 are also particularly described in the present invention. The portion where there is no is the same as the content described in Patent Document 4. Hereinafter, the novel part will be described.

In FIG. 2, the sky celestial sphere 222 in the city 200 is three-dimensionally divided at a certain angle as a sufficiently small solid angle range i 221, and the ground surface for all the sufficiently small solid angles excluding near the ground surface covering the celestial sphere 222. 1 shows the concept of an aerial image acquisition system 100 for preparing images of every place in the world. The images of the same spot photographed in the adjacent sufficiently small solid angle range i221 in FIG. 2 look slightly different due to parallax, but the images are continuously deformed by linear transformation of the field of view between the slightly different images. And performing morphing processing to obtain a smooth three-dimensional moving image.

The concept of simulated visual field generation by simulated flight in the three-dimensional landscape animation generation system will be described with reference to FIG. The viewpoint moves with time t along the viewpoint path P (t) 270, and during that time, the ground surface is captured in the field of view along the target trajectory T (t) 280. From the position on the viewpoint path P (t) 270, the target trajectory T (t) 280 has a line of sight 271 at time t 1, a line of sight 272 at time t + δt, and a time t + 2δt.
The trajectory on the ground surface is captured for each δt by the line of sight 273, the line of sight 274 at time t + 3δt, the line of sight 275 at time t + 4δt, and the line of view 276 at time t + 5δt. As a method of generating a moving image of a three-dimensional landscape for the target trajectory T (t) 280 from the viewpoint path P (t) 270, an aerial image with little parallax from the line of sight 271 at time t to the line of sight 276 at time t + 5δt The i260 and the aerial image i + 1 261 are searched from the aerial image database 143, and the line of sight 271 at time t 1, the line of sight 272 at time t + δt, and time t + 2δt
Using the aerial image i260 having the closest line of sight as the original image between
Parallax due to the difference in viewpoint between the line of sight 271 of time t + δt 2, and the line of sight 273 of time t + 2δt and the line of sight of the aerial image i 260 is corrected by the morphing process for the aerial image i 260, From the line of sight 274, it is determined that the aerial image i + 1 261 has less parallax due to a difference in viewpoint than the aerial image i260, and the aerial image i + 1 261 is switched to the original image, and the line of sight 274 at time t + 3δt t + 4δt
The target trajectory T ((s) smooth by correcting the parallax due to the difference in viewpoint between the line of sight 275 at time t + 5δt and the line of sight of the aerial image i + 1 261 by morphing processing on the aerial image i + 1 261. t)
The animation of the 3D landscape along 280 is generated.

  The method according to the present invention requires a huge amount of aerial images. FIG. 3 shows an example of the acquisition method. A digital camera assembly containing a large number of digital cameras as shown in FIG. 4 is mounted on the aircraft 301, and the ground surface is photographed at photographing points 310 at regular intervals along the flight path 300. The flight path 300 and the shooting points 310 are densely set in a mesh pattern, and a plurality of digital cameras are mounted and multi-directional images are taken simultaneously as shown in the optical axis direction 320 of the digital camera assembly, thereby obtaining FIG. An image is acquired for each sufficiently small solid angle range i221 shown.

  FIG. 4 is a diagram showing a configuration example of the digital camera assembly 345 constituting the aerial image acquisition system 100. For the purpose of efficiently and densely photographing the ground surface from all viewpoints, a plurality of oblique digital cameras 340b to 340i are arranged so that the horizontal circumferential direction is divided radially at equal intervals around the digital camera 340a in the direct downward direction. The digital camera assembly 345 is formed by arranging eight cameras so that the angle between the optical axis and the direction of gravity is the same. In particular, when shooting on an aircraft, it is necessary to obtain a flight proof, change the hole on the aircraft floor for aerial photography, or install a camera outside the aircraft from the floor hole. Since it is practically impossible to use in a pop-up form, the digital camera assembly 345 is devised so that the digital camera assembly can be accommodated in the aircraft floor hole by using a small or single-lens reflex digital camera manufactured by Canon. FIG. 12, FIG. 13 to FIG. 15 show the mounting method in the aircraft floor hole. The support structure other than the digital cameras 340a to 340i constituting the digital camera assembly 345 is required to have high photographing direction accuracy, so that any structure that is lightweight and highly rigid can be used. It can be composed of a plate or carbon resin.

  FIG. 5 shows an example of setting the route and the shooting point of the aerial image acquisition system using an aircraft. FIG. 5B shows a setting example of the shooting point 310. The flight path 300 flies in a reciprocating manner while making U-turns as shown in FIG. 5B by connecting the flight routes 300 parallel to each other at the same interval in order to form a network of the photographing points 310 in the air. During this time, shooting is performed at the shooting point 310. The mutual interval between the shooting points 310 is defined by the flight interval shooting interval 372 and the flight direction shooting interval 371. When the image is taken with the digital camera assembly 345, the range indicated by the imaging range 350a to i of the digital camera 340a to i in FIG. Depending on the setting of the flight altitude, the angle between the oblique direction digital camera 340b-i and the vertical distance of the lens, and the focal length of the lens, the shooting range of each digital camera of the shooting range 350a-i of the digital camera 340a-i It is desirable to set so as to cover the ground surface almost continuously with some overlap. The three-dimensional landscape animation generation system and the aerial image acquisition system described above are premised on a two-dimensional expanse of the surface area, such as railway lines, roads, rivers, etc. No linear target is assumed.

FIG. 6 shows an image acquisition method for the linear target, and FIG. 6B is a view of the track 325 and the track periphery 326 as seen from above. There is a direct flight path 327 directly above the track 325, and images are taken at shooting points 310 at regular intervals while maintaining a constant altitude with the ground surface. The upper left flight path 329 and the upper right flight path 328 are set a certain distance symmetrically from the track 325 to the left and right, and similarly, shooting is performed at shooting points 310 at fixed intervals while maintaining a constant altitude with the ground surface. The photographing points 310 are photographed while measuring positions with a GPS device so as to form lattice points with each other.

FIG. 6A is a perspective view of FIG. 6B in the traveling direction of the line 325 in a three-dimensional perspective. The imaging range from the upper right flight path 328 is indicated by the upper right flight path imaging range 331, and images are taken directly below and to the lower left of the flight path direction. The imaging range from the upper left flight path 329 is indicated by the upper left flight path imaging range 332, and images are taken directly below and below the right side in the flight path direction. The shooting from the immediately above flight path 327 is a directly above flight path shooting range 330 that is symmetrical with respect to the flight path direction. Thus, by setting the flight path and the shooting range from each flight path, the track 325 and the track periphery 326 can be covered with as many uniform image shooting vectors as possible with a few flight routes. FIG. 6 shows an example of the minimum number of flight paths by three flight paths. However, five flight paths in which two flight paths are arranged on the left and right are possible, and the number of flight paths can be increased. There are, however, matters that should be determined in a trade-off with cost. FIG. 6B shows the positional relationship between the shape of the upper right flight route shooting range 331, the upper left flight route shooting range 332, and the directly above flight route shooting range 330, viewed from directly above, and each flight route.

Fig. 7 shows the surface height corresponding to each lens when the surface altitude is 700 m, the 50 mm standard lens is pointed directly below, the 30 mm medium telephoto lens is set to 27.5 degrees off-nadir angle, and the 105 mm telephoto lens is set to 45 degrees off-nadir angle. An example of an imaging range is shown. The combination of the focal length of each lens and the setting of the off-nadir angle are set for the purpose of covering the track 325 and the track periphery 326 with as many uniform image shooting vectors as possible with a few flight paths. The arrangement and overlap of the standard photographing range 333, the medium telephoto photographing range 334, and the telephoto photographing range 335 in FIG. 7 are the photographing ranges of the digital cameras 340a to 340i shown in FIG. 6 of the digital camera assembly 345 in FIG. The digital camera aggregate S365 is a numerical value that serves as a basis for setting the photographing range of the digital cameras 360Sa to Si shown in FIG.

  FIG. 8 is a diagram illustrating a configuration example of the digital camera assembly S365. As shown in FIG. 6, in the upper left flight path 329 and the upper right flight path 328, the imaging range needs to be directed to the track 325 side, so that the structure of the digital camera assembly 345 for the immediately upper flight path 327 in FIG. It has been changed. In the plan view of FIG. 8, the structure of the sectional view along the EF axis is the same as that of the digital camera assembly 345 of FIG. 4, but the sectional view along the CD axis, AB axis, and GH axis. The structure is changed so as to be directed to the lower left in FIG. Here, “S” in the digital camera aggregate S365 and the digital cameras 360Sa to Si means an acronym “Side” for an upper right flight path or an upper left flight path. The digital camera 360Si, the digital camera 360Sb, and the digital camera 360Sc are compared with the digital camera aggregate 345 in FIG. 4 in the cross-sectional views of the digital camera aggregate taken along the AB, CD, and GH axes. Then, the medium telephoto lens is changed to the telephoto lens, and the off-nadir angle is also increased corresponding to the contents of FIG.

Arrange the digital camera 360Si, digital camera 360Sb, and digital camera 360Sc with the largest off-nadir angle farthest from the wall of the aircraft floor hole 367 so that the view is not obstructed when installed in the aircraft floor hole 367. It is. The digital camera 360Se, the digital camera 360Sf, and the digital camera 360Sg are for photographing in the lower left direction with a medium telephoto lens, but the direction of the camera is reversed compared to the structure of the sectional view of the EF axis. The lens selection and off-nadir angle selection for each digital camera are based on the values in FIG. The most important point here is that the field of view of the digital camera 360 is blocked by the wall surface of the aircraft floor hole 367 due to the positional relationship between the wall surface of the aircraft floor hole 367 and the digital camera assembly S365. In order to prevent this, the digital camera assembly S365 is set to be suspended to the aircraft floor hole 367 as much as possible so as not to protrude outside.

FIG. 9 shows the photographing ranges 370Sa to Si of the digital cameras 360Sa to Si on the ground surface by the digital cameras 369Sa to Si of FIG. FIG. 9A shows the settings for the upper left flight path 329, and FIG. 9B shows the settings for the upper right flight path 328. FIG. The photographing ranges 370Sa to Si of the digital cameras 360Sa to Si in FIGS. 9A and 9B are obtained by rotating the digital camera assembly S365 of FIG. 8 by 180 degrees along the horizontal plane. Can be realized.

10 shows the digital camera assembly S365 of FIG. 5, the digital camera assembly 345 of FIG. 4, and the digital camera assembly S365 of FIG. 5 along the upper right flight path 328, the upper flight path 327, and the upper left flight path 329, respectively. FIG. 10A is a diagram showing an image acquisition range on the ground when images are taken continuously for each shooting point 310, and FIG. 10A shows a left-side channel continuous composite shooting range 376 obtained along the upper left flight path 329. 10 (b) shows a straight up-route continuous composite imaging range 377 obtained along the upright flight path 327, and FIG. 10 (c) shows a right-side continuous route composite imaging range 378 obtained along the right upper flight path 328. It is.

In each of FIGS. 10A, 10B, and 10C, the density of the shooting points 310 is reduced to 1/2 to 1/4 for the purpose of preventing the display from becoming difficult to see. 10 (a), (b), and (c) are shown without overlapping each other, but in actuality, the upper right flight path 328, the upper left flight path 329, and the flight immediately above the track 325 and the track periphery 326. The mutual interval is determined so that all of the paths 327 fall within the photographing range. In the case of a flight altitude of 700 m, it is desirable to set the horizontal distance between the upper right flight path 328 and the upper flight path 327 and the horizontal distance between the upper left flight path 329 and the upper flight path 327 to about 600 to 800 m, respectively. As shown in the figure, each route continuous composite shooting range overlaps each other around the track 325, forming a high density and uniform image shooting direction vector from each direction in the air along the track 325 as the all route continuous composite shooting range 379. .

FIG. 12 shows a method for constructing and implementing a data acquisition and recording system unit 390 including a digital camera assembly 345 and a digital camera assembly S365 on an aircraft 301, and a method for constructing and implementing a flight navigation system unit 385. The detailed contents may be the same as those described in Patent Document 4. In FIG. 12, an aircraft 301 has an aircraft floor hole 397 for installing an aerial camera on the lower side of the aircraft, and the digital camera assembly 345 and the digital camera assembly 365S are installed in these holes so as not to protrude outside the aircraft. In the example of FIG. 12, a structure that is suspended from the aircraft floor hole 397 by the stable platform device 395 is adopted.
The 394 and the stable platform device 395 have functions of always directing the digital camera assembly 345 and the digital camera assembly 365S directly below the ground and fixing the azimuth in a specified direction regardless of the attitude of the aircraft 301. The stable platform device 395 may be omitted if the roll can be kept maneuvered within 5 ° at all times. IMU 396 is an acronym for English representation of the inertial measurement device, and by placing it on the stable platform device 395, the attitude of the digital camera assembly 345 and the digital camera assembly 365S can be measured. The upper surfaces of the digital camera assembly 345 and the digital camera assembly S365 may protrude above the aircraft floor 398.

The data acquisition and recording system unit 390 includes an IMU 400 for observing the attitude of the aircraft 301, an aerial shooting control system 393 including a program for controlling the digital cameras 340a to i or the digital cameras 360a to 360i and imaging data processing, and image data The aerial image primary file 102 composed of a large-capacity disk device storing various data including the shooting position, the digital camera assembly 345 at the time of shooting, and the posture of the digital camera assembly S365, and the digital cameras 340a to i or the digital camera 360a An aerial image acquisition plan file 101 that stores shooting points for issuing shooting commands for .about.i is installed in the aircraft. A GPS380 antenna for measuring the position of the aircraft 301 is provided outside the aircraft. The configuration and functions of the aerial image acquisition plan file 101, the aerial image primary file 102, the aerial imaging control system 393, the flight navigation system 386, the stable platform control system 394, and the stable platform device 395 are described in Patent Document 4.

FIG. 13 shows a digital camera photographing system 409 corresponding to changing the configuration of the digital camera aggregate 345 and the digital camera aggregate S365 corresponding to each of the upper left flight path 329, the upper right flight path 327, and the upper right flight path 328. This is an example of mounting so that there is no projecting part outside the aircraft body from the aircraft floor hole 397. In the implementation example in FIG. 13, the processing related to the antenna platform in the stable platform apparatus 395, the stable platform control system 394, and the aerial imaging control system 393 existing in FIG. 12 is excluded. In the mounting method of FIG. 13, a method of fixing the digital camera photographing system 409 to the aircraft floor 398 is premised on the assumption that the body posture is kept within a deviation of about 5 degrees with respect to the horizontal, but as shown in FIG. It is also possible to introduce a stable platform device. However, in this case, since the total weight of the digital camera photographing system 409 is larger than that of the digital camera assembly 345, the weight and cost of the stable platform device are increased.

FIG. 14 is a diagram showing the structure and function of a digital camera assembly rotating assembly 405 constituting the main part of the digital camera photographing system 409. The digital camera assembly 345 for the overhead flight path 327 and the digital camera assembly S365 for the upper right flight path 328 and the upper left flight path 329 are connected to each other through the digital camera assembly coupling mechanism 401 so as to face each other and integrated. To do. The rotation support shaft 402 is for performing rotation so that one of the digital camera assembly 345 and the digital camera assembly S365 is directed downward from the aircraft floor hole 397. Since the rotation mechanism 403 needs to change the direction of the digital camera assembly S365 by 180 degrees in the horizontal plane in the upper right flight path 328 and the upper left flight path 329, the rotation mechanism is realized by a rotation bearing mechanism or the like. I can do it. The rotation of the rotation mechanism 403 shares the central axis of rotation with the central axis of the cylinder of the digital camera assembly coupling mechanism 401. The digital camera assembly rotation assembly 405 can rotate about the rotation support shaft 402, but the outer peripheral portions of the digital camera assembly 345 and the digital camera assembly S365 are inscribed in the rotation locus 404 symmetrically and uniformly.

FIG. 15 is a diagram showing a configuration method of the digital camera photographing system 409 and a mounting method on an aircraft. FIG. 15A is a view as seen from above and from the side. The digital camera assembly rotation assembly 405 shown in FIG. 14 has the rotation support shaft 402 of the digital camera assembly rotation assembly 405 inside the digital camera assembly rotation assembly support housing 406. The digital camera photographing system 409 is configured by being inserted into the vertical movement mechanism 407.

FIG. 15B is a view of the digital camera assembly rotating assembly support housing 406 as viewed obliquely from above. The upper cylindrical portion 411, the lower cylindrical portion 412, the digital camera assembly rotating assembly support housing fixing portion 410, and the digital The camera assembly rotating assembly fixing support portion 408 and the vertical movement mechanism 407 are configured. Among these, the digital camera assembly rotating assembly support housing fixing portion 410 is an annular plane, and is fixed to the upper cylindrical portion 411 on the outer circumference and fixed to the lower cylindrical portion 412 on the inner circumference. The digital camera assembly rotating assembly support housing fixing unit 410 has a function of fixing the digital camera assembly rotating assembly support housing 406 and the digital camera photographing system 409 to the aircraft floor 398. For this reason, an extension portion may be provided outside the upper cylindrical portion 411 along the aircraft floor 398. The lower cylindrical portion 412 is received in the aircraft floor hole 397 so as not to protrude outside the aircraft.

The digital camera assembly rotating assembly fixing support portion 408 is an annular plane and is fixed to the lower cylindrical portion 412 on the outer circumference. When the digital camera assembly rotating assembly fixed support 408 moves the digital camera assembly rotating assembly 405 by the vertical movement mechanism 407, either the digital camera assembly 345 or the digital camera assembly S365 is lowered in the direction of gravity. It has a function of horizontally supporting the camera assembly 345 or the digital camera assembly S365. The vertical movement mechanism 407 has a function of supporting the digital camera assembly rotation assembly 405 below, and at the same time, when the digital camera assembly rotation assembly 405 is pulled upward, holds the digital camera assembly rotation assembly 405 in its position, The digital camera assembly rotation assembly 405 is rotated along the rotation trajectory 404 around the rotation support shaft 402, so that either the digital camera assembly 345 or the digital camera assembly S365 can be directed in the direction of gravity.

The digital camera assembly rotation assembly 405 is held on the upper side of the vertical movement mechanism 407, rotates around the rotation support shaft 402, and the digital camera assembly S365 stops at a position facing upward. Using the mechanism 403, the digital camera assembly S365 can be rotated 180 degrees in the horizontal plane. With this function, the digital camera assembly S365 can be applied to both the upper right flight path 328 and the upper left flight path 329 in FIG.

FIG. 16 is more ideally compared to FIG. 6 in that the flight path for distributing the image optical axis vector, which is expected to be ideal, over the entire area of the line 325 and the line peripheral part 326 at a uniform density on the sky celestial sphere. 300 setting methods are shown. In the case of FIG. 6, there are three flight paths along the line 325, and the image optical axis vector that looks at the line 325 in the plane orthogonal to the line 325 (in the orthogonal plane) is one at about 45 degrees, and three. There is only. For this reason, it is difficult to generate a smooth image with respect to the movement of the viewpoint in the depression direction with respect to the line 325 in the orthogonal plane. In the route setting of FIG. 6, since the photographing points 310 are densely present in the traveling direction of the track 325, a smooth moving image can be generated for a structure orthogonal to the track 325. Alternatively, a smooth moving image can be generated with respect to changes in the viewpoint and line of sight along the track periphery 326. What is being discussed here is that the smoothness is lacking only for the movement of the viewpoint in the depression direction with respect to the track 325 in the orthogonal plane of the track 325.

In order to solve this problem, as shown in FIG. 16, the sky is covered with a semi-elliptical tube 423 along the track 325 and the track peripheral portion 326, and the flight path 300 is formed along the track 325 on the semi-elliptical tube. A plurality may be set. FIG. 16 shows a cross section in a plane orthogonal to the line 325. FIG. 16 shows an example in which there are 13 flight paths 300, but there are 13 image optical axis vectors that look at the line 325 in the plane orthogonal to the line 325 (in the orthogonal plane) over 120 degrees, about 10 degrees. There is one for each. It is desirable to increase or decrease the number of flight paths 300 from a cost / cost perspective. The shooting points 310 are set at regular intervals along each flight path 300. The angle of looking at the track 325 and the track periphery 326 from each flight path 300 is from the leftmost flight path 300 to the rightmost flight path 300, the shooting range angle 420 of the leftmost route, the shooting range angle 421 of the immediately above route Further, the photographing range angle 422 of the rightmost channel is set, and the focal length of the telephoto lens of the digital camera assembly and the directing direction of each digital camera are set so that these angles are substantially the same.

FIG. 17 is a configuration example of a digital camera assembly 345 for performing imaging corresponding to the flight path 300 shown in FIG. 16, and a digital camera pointing direction changing mechanism 425 is provided for each digital camera 340a-i. The orientation of each digital camera can be changed. Digital cameras that can change the focal length of the zoom lens from the outside by a computer command are currently in practical use and are commercially available, and can be changed by a computer command. If the directivity direction is individually changed by a computer command to the digital camera directivity direction changing mechanism 425, the photographing plan shown in FIG. 16 can be implemented together with the change of the focal length. The digital camera assembly 345 of FIG. 17 can be mounted on the aircraft of FIG. 12 or FIG.

The mounting method of the digital camera assembly 345 and the digital camera assembly S365 in FIG. 13 and the mounting method of the digital camera photographing system 409 in FIG. 15 do not use a stable platform device. For this reason, due to the disturbance of the attitude of the aircraft 301, the digital cameras 345 and the digital cameras 340a and 360a that are directed in the direction directly below the digital camera set S365 are displaced without directing the points directly below the photographing point 310. As a result, as shown in FIG. 18, the direct view camera photographing range 430 of the direct route photographing point n, the direct view camera photographing range 431 of the direct route photographing point n + 1, and the direct view camera photographing range 432 of the direct route photographing point n + k are illustrated. As shown in FIG. 18 (b), they overlap while shifting.

In the three-dimensional moving image generating system using actual images described in Patent Document 4, accurate metadata such as the shooting position, shooting direction, and rotation angle around the optical axis of each image is required. For this reason, with regard to the direct-view camera shooting range 430 of the direct route shooting point n and the direct-view camera shooting range 432 of the direct route shooting point n + k located at a distance from this, four or more target points in the image, The position and altitude are obtained from the high-resolution orthosatellite image, and the image metadata is calculated backward. For the image between the nadir camera shooting range 430 of the direct route shooting point n and the nadir camera shooting range 432 of the direct route shooting point n + k, the tie point group 433 between the shooting points n and n + 1, which is the tie point of the overlapping portion, is shot. The tie point group 434 between the points n + 1 and n + 2 is sequentially obtained up to the tie point group 435 between the shooting points n + k−1 and n + k, and the metadata of the intermediate image is obtained. This method is described in Patent Document 5 and Patent Document 6.

  The aerial photograph image acquisition system of the present invention can be industrially used as a camera control device and an imaging device mounted on an aircraft. In addition, a real image is acquired and an image database is constructed for the purpose of obtaining three-dimensional information of ground surface features such as highways, roads, rivers, power transmission lines, and pipelines, which are not limited to railroad tracks but have a linear structure It can be used for that.

It is a figure which shows roughly the positioning used in the structure of the image acquisition system for the three-dimensional moving image generation of the route of this invention, and the moving image generation system whole structure of a three-dimensional landscape. It is a figure explaining the concept of the moving image generation by the morphing using the aerial image acquisition and the real image in the moving image generation system of the three-dimensional landscape shown in FIG. It is a figure which shows the concept of the aerial image acquisition in the moving image production | generation system of the three-dimensional landscape shown in FIG. It is a figure explaining the example of the airborne digital camera aggregate | assembly of this invention. It is a figure which shows the example of a setting of the course and imaging | photography point of the aerial image acquisition system by the aircraft of this invention. It is a figure which shows the example of a setting of the navigation path and imaging | photography point of the aerial image acquisition system with respect to the linear target by the aircraft of this invention. It is a figure which shows the example of the imaging | photography range for every camera of the digital camera aggregate | assembly of an aircraft of this invention. It is a figure explaining the example of the airborne digital camera aggregate | assembly specialized in the linear target of this invention. It is a figure which shows the example of the imaging | photography range for every camera of the airborne digital camera aggregate | assembly specialized in the linear target of this invention. It is a figure which shows the example of the continuous imaging | photography range along each flight route of the airborne digital camera aggregate | assembly specialized for the linear target of this invention. It is a figure which superimposes and shows all the examples of the continuous imaging | photography range along each flight route of the airborne digital camera aggregate | assembly specialized for the linear target of this invention. It is a figure which shows the structural example of the aerial image acquisition system by the aircraft of this invention. It is a figure which shows another structural example of the aerial image acquisition system by the aircraft of this invention. It is a figure which shows the structural example of the airborne digital camera assembly rotation assembly which can respond | correspond to each route specializing in the linear target of this invention. It is a figure which shows the structural example of the digital camera imaging | photography system mounted on an aircraft which can respond | correspond to each route specialized for the linear target object of this invention, and the mounting method to an aircraft. It is a figure which shows the ideal aircraft route setting method specialized in the linear target of this invention, and the structure method of the imaging | photography range angle with respect to each route. It is a figure explaining another example of an airborne digital camera aggregate of the present invention. It is a figure which shows the accuracy improvement method of the image metadata in the aerial image acquisition system of this invention.

Explanation of symbols

100 Aerial image acquisition system
101 Aerial image acquisition plan file
102 Aerial image primary file
110 Image acquisition system for generating 3D video of routes
120 Aerial image database generation registration system
121 DEM file
122 DGPS file
123 Ortho satellite image file
124 map file
140 Aerial image database
142 Aerial image index mechanism
143 Aerial image database
160 Aerial 3D video generation system
165 Aerial image search engine
180 graphic user interface system
190 Internet or intranet
191 users
200 cities
210 eyes
221 sufficiently small solid angle range i
222 celestial sphere
260 Aerial image i
261 Aerial image i + 1
270 View path P (t)
271 Line of sight at time t
272 Line of sight at time t + δt
273 Line of sight at time t + 2δt
274 Line of sight at time t + 3δt
275 Line of sight at time t + 4δt
276 Line of sight at time t + 5δt
280 Target trajectory T (t)
300 flight paths
301 aircraft
310 Shooting points
320 Digital camera assembly optical axis direction
325 track
326 Around track
327 Direct flight path
328 Upper right flight path
329 Upper left flight path
330 Immediate flight path shooting range
331 Upper right flight route shooting range
332 Upper right flight route shooting range
333 Standard shooting range
334 Medium telephoto range
335 Telephoto range
336 surface
337 Shooting point
338 Altitude
340a-i Digital camera
345 Digital camera assembly
350a to i Digital camera 340a to i shooting range
360Sa ~ Si digital camera
365 Digital Camera Assembly S
370Sa to Si Digital camera 360Sa to Si shooting range
371 Flight direction shooting interval
372 Shooting interval between flight routes
373 Aircraft position
375 Shooting direction
376 Left side channel continuous composite shooting range
377 Direct route continuous composite shooting range
378 Right route continuous composite shooting range
379 All-route continuous composite shooting range
380 GPS antenna
385 Flight Navigation System
386 Flight Navigation System
387 Avionics Information
388 Air Instrumentation
390 Data acquisition and recording system
393 Aerial shooting control system
394 Stable platform control system
395 Stable platform equipment
396 IMU
397 Aircraft floor hole
398 aircraft floor
400 IMU
401 Digital camera assembly coupling mechanism
402 Rotating support shaft
403 Rotating mechanism
404 rotation trajectory
405 Digital camera assembly rotation assembly
406 Digital Camera Assembly Rotating Assembly Support Housing
407 Vertical movement mechanism
408
Digital camera assembly rotating assembly fixed support part
409
Digital camera photography system
410 Digital Camera Assembly Rotating Assembly Support Housing Fixing Section
411 Upper cylindrical part
412 Lower cylindrical part
420 Shooting range angle of leftmost channel
421 Shooting range angle of direct route
422 Shooting range angle of rightmost channel
423 semi-elliptical tube
425 Digital camera pointing direction change mechanism
430 Direct view camera shooting range of up-straight route shooting point n
431 Direct-viewing camera shooting range of up-straight shooting point n + 1
432 Nautical view camera shooting range of shooting route n + k
433 Tie points between shooting points n and n + 1
434 Tie points between shooting points n + 1 and n + 2
435 Tie points between shooting points n + k-1, n + k

Claims (7)

In a ground scene three-dimensional video generation system using a real image taken from the sky, the linear target is obtained in order to obtain an image database of the real image specialized for a linear target object and its surrounding area. A plurality of directions are simultaneously photographed so as to form lattice points at regular intervals from a flight path of one or a plurality of obliquely sky above the sky directly above and one or both sides of the sky above the object line and the peripheral part, In particular, an image database acquisition system for acquiring images taken evenly from each azimuth direction in the sky and each elevation angle direction equal to or greater than a certain value for the linear target and arbitrary points on both sides thereof . 2. The image database acquisition system according to claim 1, wherein a digital camera assembly is composed of a plurality of aircraft-mounted digital cameras so that not only the gravitational direction but also a plurality of oblique directions can be photographed and stored. Telephoto lens having a long focal length according to the angle formed by the direction digital camera is arranged such that the angle formed by the optical axis of the lens and the gravitational direction is the same and the horizontal circumferential direction is radially divided. Is used to prevent a reduction in resolution of an image with a small depression angle, and in particular, it is arranged so that a projection does not protrude outside the imaging cylindrical opening on the floor surface of the aerial imaging aircraft. An image database acquisition system characterized in that an image is taken from the imaging point directly above the line of the linear target with a digital camera assembly. 2. The image database acquisition system according to claim 1, wherein a digital camera assembly is constituted by a plurality of aircraft-mounted digital cameras so that not only the gravitational direction but also a plurality of oblique directions can be photographed and stored. For the purpose of directing the shooting range in the direction of the linear target from the flight path obliquely above the object line, the digital camera in the digital camera assembly includes the left and right sides including the front and rear of the flight path with respect to the flight horizontal plane. By using a telephoto lens with a long focal length according to the angle formed by the gravitational direction, which is arranged radially on the right side where the linear target is present, it is possible to prevent a reduction in the resolution of an image with a small depression angle. A digital camera assembly characterized in that a projection is disposed outside a plane at a cylindrical opening for photographing on the floor of the aerial photographing aircraft. Image Database acquisition system characterized by there. 4. The image database acquisition system according to claim 3, wherein the same digital camera assembly is rotated by 180 degrees in a horizontal plane when the linear target is in the lower left and in the lower right with respect to the flight direction. Thus, an image database acquisition system having a structure that allows the linear target to be always accommodated in the obliquely downward visual field of the digital camera assembly. 5. The image database acquisition system according to claim 1, wherein when photographing from directly above the linear target, the digital camera assembly having the structure according to claim 2 is used for photographing the floor surface of the aerial photographing aircraft. The structure of claims 3 and 4 when the cylindrical target is arranged so that no projections are projected outside the apparatus and the linear target is photographed when viewed from the lower left or lower right in the flight direction. An image characterized by having a structure in which a digital camera assembly having an image can be disposed in a cylindrical opening for photographing on a floor surface of the aircraft for aerial photographing so that no protrusions are projected outside the apparatus. Database acquisition system. The image database acquisition system according to claim 1, wherein a semi-elliptical tube tube centering on the linear target and the peripheral part is assumed in the sky along the linear target and the peripheral part, A plurality of flight paths are set on the semi-elliptical cylinder tube so as to be parallel to the linear target and the peripheral part, and the linear target and the linear target from the flight path in a plane orthogonal to the semi-elliptical cylinder tube An image database acquisition system, wherein an optical axis direction and a focal length of each digital camera in the digital camera assembly are set so that a distribution of a viewing angle and a depression angle that looks at the peripheral portion is uniform. An image database acquisition system according to claim 6, wherein a digital camera pointing direction changing mechanism capable of changing an image photographing optical axis is provided for each digital camera of the digital camera assembly according to claims 2 to 5, In order to achieve the object of claim 6 by the relative positional relationship between the linear target and the peripheral part, the optical axis directing direction and the store distance of each digital camera can be changed. Image database acquisition system.