JP4588369B2 - Imaging apparatus and imaging method - Google Patents

Description

  The present invention relates to a photographing apparatus and a photographing method suitable for efficiently creating a 3D (three-dimensional) model related to an object from an image of the object photographed in the air or on the ground.

  As described in Patent Document 1 relating to the proposal of the present applicant, due to recent advances in digital technology, detailed 3D data and high-resolution images of a measurement object can be obtained using a laser scanner or digital photogrammetry. Data can be easily acquired. For example, with a device such as a close-up photogrammetry using a digital camera or a ground-type automatic tracking surveying instrument, detailed measurement can be performed with respect to an object side surface from the ground.

JP 2002-352224 A FIG.

  However, 3D data acquired by an automatic tracking surveying instrument is basically composed of three-dimensional coordinate data including distance data. Therefore, it is difficult to associate the 3D data acquired by the automatic tracking surveying instrument with the on-site situation, and any position of the measurement object is measured when performing the operation of associating the 3D data with the image information of the measurement object. It turned out that there was a problem that it would be difficult. Further, 3D data acquired by an automatic tracking surveying instrument installed on the ground has a problem that 3D data from the sky of a building rooftop or a road cannot be acquired.

  On the other hand, digital cameras and laser scanner devices for installation on flying objects such as helicopters and aircraft have been developed in recent years. However, when a 3D model of an object is created by combining such a photographed image from the sky and a photographed image from the ground, the image distortion based on the difference in the shooting direction and the difference in shooting scale and lens aberration is large. Therefore, there is a problem that it is difficult to create a 3D model of an object because the burden of collecting captured images is large.

  SUMMARY OF THE INVENTION The present invention solves the above-described problems, and an object thereof is to provide an imaging apparatus and an imaging method capable of efficiently creating a 3D model related to an object by collecting images of the objects imaged in the air or on the ground. And

  The imaging apparatus of the present invention that achieves the above object includes, as shown in FIG. 1, for example, an imaging unit 110, an imaging position measuring unit 120 that acquires imaging position information of the imaging unit 110, and an object 10 having a known position point. An image data storage unit 130 that stores a plurality of image data, a model formation unit 210 that forms a three-dimensional model of the object 10 using the image data stored in the image data storage unit 130, and a model formation unit 210 The three-dimensional model of the object 10 formed in step S1 is visually recognized from the photographing position of the photographing unit 110 based on the image data stored in the image data storage unit 130 and the photographing position information obtained by the photographing position measuring unit 120. And a model display unit 160 that displays a three-dimensional model image of the target object 10.

  In the apparatus configured as described above, since the three-dimensional model image of the object 10 viewed from the photographing position of the photographing unit 110 when the photographing unit 110 moves is displayed on the model display unit 160, the photographing unit It is possible for the photographer to determine whether or not the photographing position 110 is appropriate as a photographing position necessary for forming the model of the object 10.

  In the photographing apparatus according to the first aspect of the present invention, preferably, a first photographed image stored in the image data storage unit together with photographing position information and a second photographing displayed on the model display unit 160 are further provided. Measurement accuracy when the model forming unit 210 forms a three-dimensional model of the object 10 using the image and performs three-dimensional measurement of the object 10 from the photographing position information regarding the first and second photographed images. It is preferable to include a photographing condition measuring unit 220 that obtains at least one of a baseline, a photographing position, a photographing angle, and a photographing unit interval.

  The imaging apparatus of the present invention that achieves the above object includes, for example, as shown in FIG. 3, an imaging unit 110 that images the object 10, an imaging position instruction unit 180 that specifies the imaging position of the imaging unit 110, An image data storage unit 130 that stores a plurality of image data of an object having a model, a model formation unit 210 that forms a three-dimensional model of the object 10 using image data stored in the image data storage unit 130, and With respect to the three-dimensional model of the object 10 formed by the model forming unit 210, the designation of the photographing unit 110 is performed based on the image data stored in the image data storage unit 130 and the photographing position designated by the photographing position instruction unit 180. And a model display unit 165 that displays a three-dimensional model image of the object 10 viewed from the shooting position.

  In the apparatus configured as described above, when the photographing unit 110 moves to the photographing position designated by the photographing position instruction unit 180, the three-dimensional model image of the object 10 visually recognized from the photographing position of the photographing unit 110 is obtained. Since it is displayed on the model display unit 165, it is possible for the photographer to determine whether or not the shooting position specified by the shooting position instruction unit 180 is appropriate as a shooting position necessary for forming the model of the object 10.

  In the photographing apparatus according to claim 3 of the present invention, preferably, the photographing apparatus further includes a photographing position measuring unit 120 that acquires photographing position information of the photographing unit 110, and is based on the photographing position information with respect to the first and second photographed images. The imaging condition measuring unit 220 may be provided to obtain at least one of measurement accuracy, base line, imaging position, imaging angle, and imaging unit interval when performing three-dimensional measurement of the object 10. Here, the first and second photographed images use the first photographed image stored in the image data storage unit 130 together with the photographing position information and the second photographed image displayed on the model display unit 165. The model forming unit 210 forms a three-dimensional model of the object 10.

  In the photographing apparatus of the present invention, preferably, the image data storage unit 130 includes at least one set of stereo images photographed by a photographing device other than the photographing unit 110, and the model forming unit 210 uses the stereo images. The stereo image that can form a three-dimensional model of the object 10 is stored. As the set of stereo images, for example, stereo images (small-scale aerial photographs) captured by a photographing device other than the photographing unit 110 are used. This stereo image is an image taken by a part other than the photographing unit of the photographing apparatus, and is desirably a wide-area photographed image compared to an image photographed by the photographing unit 110. On the other hand, it generally means an image obtained by photographing a small scale, a low resolution, and a wide area. It should be noted that the 3D model forming process or the like can be performed using only the image photographed by the photographing unit 110 of the photographing apparatus instead of the image photographed by a part other than the photographing part of the photographing apparatus.

  In the photographing apparatus of the present invention, it is preferable that the image stored in the image data storage unit 130 is a stereo aerial photograph, a stereo small scale photograph, or a stereo low-resolution image photographed by a photographing device other than the photographing unit 110. It is preferable to include at least one of the wide-area photographed images.

  In the imaging apparatus of the present invention, preferably, the image data storage unit 130 is in a state where the position known point of the object 10 can be displayed on the image data captured by the imaging unit 110 while being superimposed on the object image. The object image stored in the image data storage unit 130 can be used as an image for forming a three-dimensional model of the object 10 in the model forming unit 210. It is good to be.

  In the photographing apparatus of the present invention, preferably, the photographing unit 110 has a first photographed image stored in the image data storage unit 130 together with the photographing position information, and an overlapping area with the first photographed image with respect to the object image. The second photographing taken in the state is photographed, and the image data storage unit 130 is preferably configured to sequentially store the first photographed image and the second photographed image.

  In the photographing apparatus of the present invention, preferably, the photographing unit 110 sequentially photographs the object 10 included in the field of view at different photographing positions, and further, an object based on the image data of the sequentially photographed object 10. A monitor image display unit 150 that displays an object image may be provided.

  In the photographing apparatus of the present invention, preferably, a reference point for displaying at least one of a reference point or a pass point on the monitor image display unit 150 so as to be superimposed on the image data of the sequentially photographed object 10. A display position calculation unit 230 may be provided.

  The imaging apparatus of the present invention is preferably configured to further include a measurement condition display unit 170 that displays the imaging conditions measured by the imaging condition measurement unit 220.

  An imaging apparatus 300 of the present invention that achieves the above object includes, as shown in FIG. 5, for example, an imaging unit 110 that captures an object 10, and a finder image display unit 190 that displays the object 10 captured by the imaging unit 110. An image data storage unit 130 that stores a plurality of image data of the target object 10 having a position-known point, and a reference point data or a three-dimensional model of the target object 10 using the image data stored in the image data storage unit 130 The finder image display unit 190 is configured to display the reference point data or the three-dimensional model on the object image.

  In the apparatus configured as described above, the image data stored in the image data storage unit 130 by the data forming unit 240 is used for the object 10 captured by the imaging unit 110 displayed on the finder image display unit 190. Since the reference point data or three-dimensional model of the object 10 formed in this way is displayed on the object image, the reference point data or three-dimensional model of the object 10 already exists at the photographing position of the photographing unit 110. It is possible for the photographer to determine whether or not the object is photographed, and the photographing work required for creating the three-dimensional model of the object 10 can be performed smoothly.

  For example, as shown in FIG. 2, the imaging method of the present invention that achieves the above object acquires imaging position information when the object 10 is imaged by the imaging unit 110 (S <b> 110), and the object 10 having a position known point. A three-dimensional model of the object 10 is formed using the image data stored in the image data storage unit 130 that stores the plurality of image data (S120), and the image data storage unit is related to the three-dimensional model of the object 10. Based on the image data stored in 130 and the shooting position information, a three-dimensional model image of the object 10 viewed from the shooting position of the shooting unit 110 is displayed (S130). is there.

  For example, as shown in FIG. 4, the imaging method of the present invention that achieves the above object inputs information designated as the imaging position when imaging the object 10 by the imaging unit 110 (S210). A three-dimensional model of the target object 10 is formed using the image data stored in the image data storage unit 130 that stores a plurality of image data of the target object 10 (S220). Based on the image data stored in the image data storage unit 130 and the designated photographing position, a three-dimensional model image of the object 10 viewed from the designated photographing position of the photographing unit 110 is displayed (S230). The process is executed by a computer.

  According to the imaging device of the present invention described in claim 1, the three-dimensional model image of the object 10 visually recognized from the imaging position of the imaging unit 110 when the imaging unit 110 moves is displayed on the model display unit 160. Therefore, it is possible for the photographer to determine whether or not the photographing position of the photographing unit 110 is appropriate as a photographing position necessary for forming the model of the object 10, and is necessary for creating a three-dimensional model of the object 10. The shooting work can be performed smoothly.

  According to the imaging apparatus of the present invention described in claim 3, the object 10 visually recognized from the imaging position of the imaging unit 110 when the imaging unit 110 moves to the imaging position designated by the imaging position instruction unit 180. Since the three-dimensional model image is displayed on the model display unit 165, whether or not the photographing position designated by the photographing position instruction unit 180 is appropriate as a photographing position necessary for forming the model of the object 10 is determined for the photographer. It is possible to discriminate, and the photographing work required for creating the three-dimensional model of the object 10 can be performed smoothly.

  According to the photographic device of the present invention described in claim 12, the data forming unit 240 stores the object 10 captured by the photographing unit 110 displayed on the finder image display unit 190 in the image data storage unit 130. Since the reference point data or the three-dimensional model of the object 10 formed using the image data is displayed on the object image, the photographing position of the photographing unit 110 is already the reference point data or the three-dimensional model of the object 10. Therefore, it is possible for the photographer to determine whether or not the image is present, and the photographing work required for creating the three-dimensional model of the object 10 can be performed smoothly.

  The present invention will be described below with reference to the drawings.

  FIG. 6 is an overall configuration diagram for explaining an embodiment of the present invention. The object 10 is a tangible object that is a measurement object or a production object, and includes, for example, various works such as buildings included in the areas of city planning, architecture, maintenance, and cultural properties, and people and landscapes. In the figure, the photographing apparatus of the present invention includes a photographing unit housing 100, a photographing unit 110, photographing position measuring units 120 and 125 for obtaining photographing position information of the photographing unit 110, and a plurality of image data of an object 10 having a known position point. Including an image data storage unit 130, a monitor image display unit 150, a model display unit 160, a measurement condition display unit 170, and an arithmetic processing unit 200, for example, called a photographing guiding system (Virtual Guiding System) .

  The photographing unit housing 100 integrally holds the photographing unit 110 and the photographing position measuring units 120 and 125, and is small and lightweight so that the photographer can easily operate. For the photographing unit 110, for example, a digital camera for consumer use can be used as a digital camera, and a camera capable of outputting video is preferable. The number of pixels is selected according to the required resolution. The photographing position measuring unit 120 uses GPS so that the photographing position (X, Y, Z) of the photographing unit 110 can be measured as latitude, longitude, and altitude on the earth. The photographing position measuring unit 120 is preferably capable of switching between kinematic and real-time kinematics, for example. The photographing position measuring unit 125 uses a three-axis angle sensor that measures the photographing posture (Yaw, Pitch, Law) of the photographing unit 110. The photographing position measuring unit 125 has, for example, a resolution of 0.05 °, a stationary accuracy of 1 ° RMS, and a dynamic accuracy of 3 ° RMS.

  As the arithmetic processing unit 200, for example, a general-purpose notebook computer can be used. The image information captured by the image capturing unit 110 and the position information (X, X) of the image capturing unit 110 measured by the image capturing position measuring units 120 and 125 are used. Y, Z) and posture information (Yaw, Pitch, Law) are input. A general-purpose notebook personal computer is provided with an electromagnetic storage device such as a flexible disk storage device or a CDROM, and is used as the image data storage unit 130. A liquid crystal display panel of a general-purpose notebook computer is used as a monitor image display unit 150, a model display unit 160, and a measurement condition display unit 170. A general-purpose notebook personal computer stores a model formation unit 210, an imaging condition measurement unit 220, and a reference point display position calculation unit 230 as software.

  The model forming unit 210 forms a three-dimensional model of the object 10 using the image data stored in the image data storage unit 130. A specific three-dimensional model creation arithmetic expression is, for example, the one of the applicant of the present application. It describes in Unexamined-Japanese-Patent No. 2004-037270 concerning a proposal. The model forming unit 210 is supplied as, for example, a 3D measurement system PI-3000V2 (trade name) supplied from Topcon Corporation, and is a system capable of performing 3D measurement and modeling all at once from aerial photographs to digital camera images.

The imaging condition measurement unit 220 measures the measurement accuracy, the baseline, the imaging position, the imaging angle, and the imaging unit interval when performing the three-dimensional measurement of the object 10 from the imaging position information regarding the first and second captured images. The measurement result is displayed on the measurement condition display unit 170. First and second captured images may include a first captured image stored in the image data storage unit 130 together with the photographing position information, a second photographed image displayed on the monitor image display unit 150, after shooting The model forming unit 210 is used to form a three-dimensional model of the object 10.

  The reference point display position calculation unit 230 calculates, based on the image information of the finder of the photographing unit 110, whether or not the reference point coordinates input in advance are arranged as the display position on the finder image. Real-time display is performed with the reference point superimposed on the object 10 on the viewfinder image displayed at 150.

FIG. 7 is a diagram for explaining an example of a screen displayed on the liquid crystal display panel, and is used as the monitor image display unit 150, the model display unit 160, and the measurement condition display unit 170. The monitor image display unit 150 is also used as a finder image display unit 190. Image information of the finder of the photographing unit 110 is sent to a computer constituting the arithmetic processing unit 200 via various interfaces, and a liquid crystal display panel. Displayed above. The reference point display position calculation unit 230 displays the reference points related to the object 10 included in the image information of the viewfinder in a superimposed state. Thereby, how many reference points appear on the monitor image display unit 150 can be determined at the time of photographing by the photographing unit 110. Monitor image display unit 150 is photographed by the photographing unit 110, it may have a structure for sequentially calling a shadow image shooting stored in the image data storage unit 130. The apparatus of FIG. 7 is designed to display three screens. The left two screens are captured and stored in the image data storage unit 130, and the rightmost screen is the current shooting unit 110. The image captured in is displayed. The photographer can easily find the photographing point while checking the three screens displayed on the monitor image display unit 150 in real time. Further, by sequentially displaying the shadow image shooting stored in all three screens in the image data storage unit 130, it is also possible to already carry out the confirmation of the photographed image.

  The model display unit 160 can display the result of modeling the object 10 by the model forming unit 210 in accordance with the viewpoint viewed from the shooting position and posture of the shooting unit 110. Thereby, it is possible to determine the shooting position with respect to the target object 10 while recognizing the modeling missing part of the target object 10 and confirming the shooting direction of the target object 10 to be supplemented as the shooting direction. The three-dimensional display of the target object 10 can display an image of the target object 10 reconstructed by three-dimensional measurement by using, for example, an OpenGL function, and display a wire frame or texture mapping. Thereby, the image of the target 10 can be displayed on the model display unit 160 in real time with the viewpoint and resolution.

  The measurement condition display unit 170 displays the position information (X, Y, Z) of the photographing unit 110 measured by the photographing position measuring unit 120, and the posture information (X, Y, Z) measured by the photographing position measuring unit 125 ( Yaw, Pitch, Law) is displayed.

  In addition, the image data storage unit 130 holds an image captured by the previous imaging unit 110 and an imaging position. The shooting condition measurement unit 220 uses the viewfinder image (second shot image) displayed on the monitor image display unit 150 based on the information of the previous shot image (first shot image) stored in the image data storage unit 130. ) Overlap rate is displayed. The imaging condition measurement unit 220 measures the measurement accuracy, base line, imaging position, imaging angle, and imaging unit interval when performing three-dimensional measurement of the object 10, and calculates the approximate accuracy of the object 10. , And output to the measurement condition display unit 170.

The accuracy roughly obtained by the imaging condition measurement unit 220 is obtained by the following equation.
ΔXY = H * δp / f (1)
ΔZ = H * H * δp / (f * B) (2)
Here, δp is the pixel resolution of the photographing unit 110 or the reading resolution of the scanner, f is a focal length, and is known by the photographing unit 110 to be used. The baseline length B is calculated from the position measured from the shooting position measurement unit 120 of the shot image and the position of the shooting position measurement unit 120 to be shot next. The shooting distance H can be calculated from the position of the shooting position measurement unit 120 and the position of the reference point or 3D model if there is a reference point or 3D model at the location to be shot. If the reference point or 3D model is not shown, enter an approximate value. From the resolution δp, focal length f, base length B, and shooting distance H, which are parameters used in the above equation, approximate accuracy ΔXY and ΔZ after measurement of the stereo model that is currently being shot is calculated.

  A photographing operation in the apparatus configured as described above will be described. FIG. 8 is a flowchart for explaining measurement of a 3D model using images taken in the air and on the ground. First, aerial shooting is performed (S300). There are a wide variety of aerial images such as aerial photographs (for example, provided by the Geospatial Information Authority of Japan), images acquired by imaging systems such as helicopters, airships, balloons, and image data captured using paragliders with engines. Available. However, the internal orientation element in the imaging conditions of the imaging unit 110 needs to be known.

Next, on the ground, a reference point necessary for creating the 3D model is acquired by an automatic tracking surveying instrument or GPS (S310). At this time, the measurement values obtained by the automatic tracking surveying instrument are unified in the earth positioning coordinate system by GPS. Then, using the aerial photographed image acquired in S300 , the model forming unit 210 measures the 3D model of the object 10 (S320). In this case, the reference point acquired in S310 is used as necessary.

Next, ground photographing is performed by the photographing unit 110 using the photographing guiding system ( S330 ). Prior to this work, the reference points measured in S310 and the 3D model data created in S320 are stored in the imaging guiding system in advance. As a result, when confirming the shooting position, the monitor image display unit 150 displays the object image of the angle facing the shooting unit 110 in real time and is measured on the target image of the monitor image display unit 150 in S310. The reference point is displayed in a superimposed state. In addition, the 3D model created in S320 is displayed on the model display unit 160 at an angle looking into the photographing unit 110. Further, the measurement condition display unit 170 can also confirm the measurement accuracy and the overlap state in the monitor image display unit 150. With these functions, the photographer guides the photographing position of the photographing unit 110 to an optimum position considering post-processing such as 3D model creation.

  Next, a 3D model on the ground is created by stereo measurement of an image photographed by the photographing guiding system by the model forming unit 210 (S340).

  Next, the entire 3D model is created by the model forming unit 210 (S350). The model forming unit 210 unifies the coordinate system of each stereo model image taken in the air or on the ground by simultaneously performing bundle adjustment of the pass point and tie point of each stereo model image taken in the air or on the ground. Then, the entire 3D model is created. In the photographing guiding system, the 3D model formation work on the ground and the 3D model creation work of the entire images of each stereo model photographed in the air or on the ground can be automatically performed while performing bundle adjustment.

  Next, an example of creating a 3D model using an aerial photograph, an aerial image, and a ground image using the above-described imaging guiding system according to the present invention will be described. FIG. 9 is an entire site view of an object for creating a 3D model using the imaging guiding system according to the present invention. The object is an 8-story building owned by the applicant, and is located in the applicant's head office registration location. The used image is an aerial photograph (FIG. 10) as basic image information of the entire object, an image photographed by the photographing unit 110 from a powered glider for modeling from above the object (FIG. 12), and a ground side surface part of the object. Obtained by the photographing unit 110 of the photographing guiding system (FIG. 15). Each of these three types of images was created by the model forming unit 210 and fused. The reference point is the position of the reference point measured by the automatic tracking surveying instrument using the points measured by the GPS in the site of the target, measuring the side of the building that is the target. Converted to GPS coordinates.

Each imaging / analysis will be described below.
(1) Base creation by aerial photograph analysis FIG. 10 is an aerial photograph provided by the Geospatial Information Authority of Japan, which has taken around 4 km square around Itabashi Ward, including the applicant's head office registration location. A so-called general aerial photography camera can be used as the photographing camera. As the focal length, the angle of view, etc., those necessary for photographing are appropriately selected.

  FIG. 11 is an image obtained by modeling the 3D model creation target area by the model forming unit. In the analysis of the 3D model creation target area, in order to use an aerial photograph as a base (background), the film was read with a scanner, for example, at a reading resolution of 600 dpi, and the model forming unit 210 performed internal orientation. In FIG. 12, stereo matching is not performed and simple 3D plotting is performed and used. However, when there is a undulation such as a mountain, the undulation portion of the 3D model creation target region is subjected to stereo matching processing to generate 3D. Model it.

(2) Creation of 3D Model from Aerial Shooting (Powered Glider) Image FIG. 12 is an image captured by the imaging unit 110 from a powered glider for modeling from above the object. FIG. 13 is an explanatory diagram of photography by a powered paraglider (paraglider with an engine). Powered paragliders are not aircraft, so there are few restrictions on altitude regulations, etc., and there are features that enable inexpensive and safe shooting. In addition to powered gliders, helicopters, balloons, and Cessna aircraft capable of taking large-scale aerial photographs can also be used. A consumer digital camera can be used as the camera used for shooting. .

  FIG. 14 is an explanatory diagram for explaining an example of 3D modeling of an aerial photograph. The procedure of 3D model analysis is as follows. First, in the model formation unit 210, a reference point measured by an automatic tracking surveying instrument is entered and orientation is performed, and polyline measurement is performed on the edge portion of the building, which is the object, and the front yard portion (FIG. 14a). Here, polyline measurement refers to performing three-dimensional measurement while manually measuring corresponding points or semi-automatically using correlation processing, and can be performed manually or by automatic position detection. Next, the building wall surface is automatically measured and the plane part mesh is created for the target building (FIG. 14b). Then, a texture is pasted on the building that is the object (FIG. 14c) to represent the external shape of the building. The exterior shape of the 3D modeled building is integrated with the aerial photograph and merged with general image information near the object (FIG. 14d). At this time, a part of the wall surface of the building that is the object has a direction that is not photographed due to the restrictions of the aerial photograph, and is in a state lacking in 3D modeling.

(3) Addition of Ground 3D Model by Shooting Guiding System FIG. 15 shows a state where the shooting unit 110 is shooting from the shooting direction to be supplemented with respect to the object and an additional shot image. At this time, the display screen of the imaging guiding system is as shown in FIG. 7, for example. On the monitor image display unit 150, an image from the photographing direction to be supplemented with respect to the object is displayed. Some wall surfaces of the target building are not photographed due to aerial photography restrictions, but the image information of the missing wall surface is a precise reference point by photographing from the photographing direction to be supplemented. Obtained with information.

  FIG. 16 is an image of an object in which a wire frame is pasted on an aerial photograph. FIG. 17 is an image of an object in which a texture is pasted on an aerial photograph. Here, the texture and the wire frame are acquired from the 3D model obtained by the model forming unit 210 from the ground image supplemented by the imaging guiding system. Here, the texture refers to a pattern attached to the surface of a graphic or a drawing for expressing a texture in graphics or the like, and is used to express a three-dimensional feeling in a two-dimensional image of an object. The wire frame refers to a polygonal line segment diagram connecting vertices when the surface shape of an object is represented by vertices of polygons such as a large number of triangles. A part of the wall surface of the building, which is an object, has a direction that is not photographed due to aerial photography restrictions, but a 3D model is obtained by acquiring a photographed image of the object from the photographing direction to be supplemented by the photographing guiding system. By doing so, 3D modeling processing of the entire object can be performed.

  FIG. 18 is an explanatory diagram of a 3D model in which a building adjacent to an object is added. The building adjacent to the object is further added after the 3D modeling process of the entire object shown in FIG. 17 using the image taken in the air. In this way, the part to be supplemented and added in the 3D modeling process can be easily dealt with by adding an analysis from a shooting guiding system, an aerial image or an aerial photograph.

  FIG. 19 is an overall configuration diagram for explaining a second embodiment of the present invention. In the first embodiment, a combination of a digital camera and a notebook computer is shown as shown in FIG. However, in this embodiment, as shown in FIG. 19, a GPS, a digital camera, and a small host PC are integrally configured. For a small host PC, a portable information processing terminal such as a PDA is used. Since the functions of the GPS, the digital camera, and the small host PC are the same as those described in the first embodiment, the details thereof are omitted.

  FIG. 20 is an overall configuration diagram for explaining a third embodiment of the present invention. In the figure, the imaging apparatus of the present invention includes an imaging unit housing 100, an imaging unit 110, imaging position measuring units 120 and 125 that acquire imaging position information of the imaging unit 110, an image data storage unit 130, a monitor image display unit 150, a model. A display unit 165, a measurement condition display unit 170, an imaging position instruction unit 180, and an arithmetic processing unit 200 are included. In FIG. 20, the same reference numerals are given to the same components as those in FIG.

  The shooting position instruction unit 180 designates the shooting position of the shooting unit 110, and for example, a mouse or a cursor key connected to a personal computer is used. The model display unit 165 relates to the 3D model of the object 10 formed by the model forming unit 210 based on the image data stored in the image data storage unit 130 and the shooting position specified by the shooting position instruction unit 180. Then, a three-dimensional model image of the object 10 viewed from the designated photographing position of the photographing unit 110 is displayed.

  FIG. 21 is an explanatory diagram illustrating an example of a shooting position input screen used for inputting a shooting position by the shooting position instruction unit 180. For the shooting position input screen, for example, a plan view of an object displayed on the model display unit 165 may be used. On the shooting position input screen, shooting positions 1 to 6 are input using a tool such as a light pen or a mouse. Then, a 3D model of the object is formed from the position input as the shooting position by the model forming unit 210, and a visual image is displayed on the model display unit 165.

  FIG. 22 is a diagram illustrating an example of an object visual image from the designated photographing position displayed on the model display unit 165. Reference numerals 1 to 6 in the drawing correspond to the photographing designated positions 1 to 6 in FIG. When the photographing designation positions 1 to 6 are input from the photographing position instruction unit 180, the monitor image display unit 150 displays a 3D image of the object image at an angle facing the photographing unit 110 from the designated photographing positions 1 to 6. Is formed and displayed on the monitor image display unit 150. Note that the system configuration of this embodiment may be configured as shown in FIG.

  As described above, the arrangement and recognition of reference points or tie points are important when bundle adjustment is performed on aerial photographs and images taken from the ground by the photographing unit 110 of the photographing guiding system. According to the present embodiment, these orientation points are displayed in real time when the photographing unit 110 is photographed by the photographing guiding system, so that a 3D model can be efficiently constructed from the air and the ground. In addition, according to the present embodiment, bundle adjustment is performed on images captured with a wide variety of imaging units 110 and resolutions, thereby ensuring consistency of various types of image measurement data, and high performance. A textured 3D model can be created from DSM (Digital Stereo Matching) data measured by stereo matching and displayed from various viewpoint positions at various resolutions.

1 is an overall configuration block diagram illustrating a first embodiment of a photographing apparatus according to the present invention. 3 is a flowchart illustrating a first imaging method of the present invention. It is a whole block diagram explaining 2nd Embodiment in the imaging device of this invention. It is a flowchart explaining the 2nd imaging | photography method of this invention. It is a whole block diagram explaining 3rd Embodiment in the imaging device of this invention. 1 is an overall configuration diagram illustrating an embodiment of the present invention. It is a figure explaining an example of the screen displayed on a liquid crystal display panel. It is a flowchart explaining the measurement of 3D model by the image image | photographed in the air and the ground. It is the whole site map of the target of 3D model creation using the photography guiding system concerning the present invention. This is an aerial photograph provided by the Geospatial Information Authority of Japan, which has been photographed about 4 km square around Itabashi-ku, Tokyo, including the applicant's head office location. It is the image which modeled the 3D model creation object area | region by the model formation part. It is the image image | photographed by the imaging | photography part 110 from the power glider for modeling from the sky of a target object. It is explanatory drawing of photography by a powered paraglider (paraglider with an engine). It is explanatory drawing explaining an example of 3D modeling of an aerial photograph. A state in which the photographing unit 110 is photographing from the photographing direction to be supplemented with respect to the object and an additional photographed image are shown. It is the image of the target object which stuck the wire frame on the aerial photograph. It is the image of the target object which stuck the texture on the aerial photograph. It is explanatory drawing of the 3D model which added the building adjacent to a target object. It is a whole block diagram explaining the 2nd Embodiment of this invention. It is a whole block diagram explaining the 3rd Embodiment of this invention. It is explanatory drawing which shows an example of the imaging position input screen used for the input of the imaging position by the imaging position instruction | indication part. It is a figure which shows an example of the target object visual image from the designated imaging | photography position displayed on the model display part 165. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Measurement object 110 Imaging | photography part 120 Imaging | photography position measurement part 130 Image data storage part 150 Monitor image display part 160,165 Model display part 170 Measurement condition display part 180 Shooting position instruction | indication part 190 Viewfinder image display part 210 Model formation part 220 Imaging condition Measurement unit 230 Reference point display position calculation unit

Claims (10)

With the shooting department;
A photographing position measuring unit for obtaining photographing position information of the photographing unit;
An image data storage unit for storing a plurality of image data of an object having a position known point;
A model forming unit that forms a three-dimensional model of the object using the image data stored in the image data storage unit;
Regarding the three-dimensional model of the object formed by the model forming unit, based on the image data stored in the image data storage unit and the shooting position information obtained by the shooting position measuring unit, the shooting of the shooting unit A model display unit for displaying a three-dimensional model image of the object visually recognized from a position;
From the shooting position information related to the first shot image stored in the image data storage unit together with the shooting position information and the shooting position information related to the second shot image that is the finder image of the shooting unit, the three-dimensional measurement of the object is performed. An imaging condition measurement unit for obtaining measurement accuracy when performing
A measurement condition display unit that displays the measurement accuracy obtained by the imaging condition measurement unit;
Shooting device. An imaging unit for imaging the object;
A shooting position instruction unit that specifies a shooting position of the shooting unit;
An image data storage unit for storing a plurality of image data of an object having a position known point;
A model forming unit that forms a three-dimensional model of the object using the image data stored in the image data storage unit;
With respect to the three-dimensional model of the object formed by the model forming unit, designation of the photographing unit based on the image data stored in the image data storage unit and the photographing position designated by the photographing position instruction unit A model display unit for displaying a three-dimensional model image of the object visually recognized from the photographing position;
A photographing position measuring unit for obtaining photographing position information of the photographing unit;
From the shooting position information for the first shot image stored in the image data storage unit together with the shooting position information and the shooting position information for the second shot image, which is a finder image of the shooting unit, the three-dimensional measurement of the object. An imaging condition measurement unit for obtaining measurement accuracy when performing
A measurement condition display unit that displays the measurement accuracy obtained by the imaging condition measurement unit;
Shooting device. A monitor image display unit for displaying an image stored in the image data storage unit and a viewfinder image of the photographing unit;
The imaging device according to claim 1 or 2. In the image data storage unit, at least one set of stereo images photographed by a photographing device other than the photographing unit, and a three-dimensional model of the object can be formed using the stereo image in the model forming unit. Such stereo images are stored,
The imaging device according to any one of claims 1 to 3. The image stored in the image data storage unit includes at least one of a stereo aerial photograph, a stereo small-scale photograph, a stereo low-resolution image, and a wide-area photographed image photographed by a photographing device other than the photographing unit. It is characterized by
The imaging device according to any one of claims 1 to 4. The image data captured by the imaging unit is stored in the image data storage unit in a state where the position known point of the object can be displayed superimposed on the object image;
Thus, the object image stored in the image data storage unit can be used as an image for forming a three-dimensional model of the object in the model forming unit.
The imaging device according to any one of claims 1 to 5. The photographing unit photographs the first photographed image and the second photographed image in a state having an overlapping region;
The image data storage unit is configured to sequentially store the first captured image and the second captured image;
The imaging device according to any one of claims 1 to 6. The photographing unit sequentially photographs the objects included in the field of view at different photographing positions;
Further, the monitor image display unit includes a reference point display position calculation unit that displays at least one of a reference point or a pass point so as to be superimposed on the image data of the sequentially photographed object.
Imaging device according to any one of claims 3 to 7. Obtaining shooting position information when shooting an object by the shooting unit;
Forming a three-dimensional model of the object using image data stored in an image data storage unit that stores a plurality of image data of the object having known position points;
With respect to the three-dimensional model of the object, a three-dimensional model image of the object viewed from the photographing position of the photographing unit is displayed based on the image data stored in the image data storage unit and the photographing position information. And
From the shooting position information related to the first shot image stored in the image data storage unit together with the shooting position information and the shooting position information related to the second shot image that is the finder image of the shooting unit, the three-dimensional measurement of the object is performed. It determined the measurement accuracy in the case of the;
Displaying the determined measurement accuracy ;
An imaging method that causes a computer to execute each process. Enter information specified as the shooting position when shooting the object by the shooting unit;
Forming a three-dimensional model of the object using image data stored in an image data storage unit that stores a plurality of image data of the object having known position points;
With respect to the three-dimensional model of the object, the three-dimensional model of the object viewed from the designated photographing position of the photographing unit based on the image data stored in the image data storage unit and the designated photographing position Display images;
Obtaining photographing position information of the photographing unit;
From the shooting position information for the first shot image stored in the image data storage unit together with the shooting position information and the shooting position information for the second shot image, which is a finder image of the shooting unit, the three-dimensional measurement of the object. It determined the measurement accuracy in the case of the;
Displaying the determined measurement accuracy ;
An imaging method that causes a computer to execute each process.