JP4940036B2 - Image display system with stereoscopic measure display function and image display program with stereoscopic measure display function - Google Patents

Description

  The present invention relates to an image display system that displays a three-dimensional measure on a camera parameter image using omnidirectional image data obtained from a moving body or the like.

  In general, when the road width is measured from a photographic image, the road width on the photograph is measured with a measure, and the measured value is multiplied by a photo scale.

  In addition, roads have intersections and road widths are not uniform. For this reason, we took several photos of the places that we thought were necessary, and measured the road width of each photo.

  On the other hand, when creating a road drawing, measurements are made at a plurality of locations on the site, and the drawing is created based on the measurement result.

However, field measurements are very time consuming and expensive. For this reason, Patent Document 1 captures a wide-range image using an omnidirectional camera, performs arithmetic processing on the obtained image, and automatically creates an illustration of the site according to road conditions more easily and accurately. .
Japanese Patent Application No. 2005-327220 There is also a photographic measurement system that measures triangulation using two or more photographs as a method for measuring the height and the like of the feature in the photograph. Photo measurement is a technology that acquires information about the position and shape of a subject from the geometric relationship between the image projected on the film surface or CCD surface and the subject. The collinear condition that the three points of the image are on the same line is used. However, it is impossible to acquire three-dimensional information including the depth of the subject from a photograph taken with one camera unless special conditions are given. Therefore, there is also a method of measuring a subject by constructing a stereo model from a set of two photographs taken from two different positions.

  However, it takes time because it is a manual operation to measure the width, depth, electric wire height, etc. of a road from a photographic image. There is the following problem when surveying with a stereo photograph as one method of automatically performing this.

  In order to perform surveying, pre-processing (mutual orientation / absolute orientation) is required in which the relative positional relationship and the absolute positional relationship between captured images are determined in advance.

  In addition, as a method for replacing relative orientation / absolute orientation, there is a method (direct orientation) for accurately measuring the position and orientation at the time of data acquisition, but an expensive measuring device (GPS / IMU) is required.

  In addition, it is necessary to be able to easily perform measurement using one image as much as possible. Furthermore, it is difficult to measure the height of the electric wire.

  In addition, even if the width of a road, the height of a utility pole, etc. are automatically measured by measuring a stereo photograph, it means that the road width, the depth of a road, the height of a feature, etc. cannot be easily and instantaneously understood from the photograph image. There is no.

  On the other hand, in recent years, as shown in Patent Document 1, there is also a method of measuring with a camera capable of capturing a 360-degree omnidirectional image.

  However, Patent Document 1 captures an omnidirectional image at an intersection and draws the shape of the intersection with a line in the omnidirectional image, and does not measure road width, depth, height, and the like.

  The present invention has been made to solve the above-described problems. The width, height, and depth can be instantaneously and easily displayed on an image in a road, a river, a waterway, and a pipe (or an image of the entire circumference). An object of the present invention is to obtain an image display device with a three-dimensional major display function.

  The present invention displays a camera parameter designation display image generated as if an entire surrounding image of a photographing point was photographed in a designated photographing direction and angle of view on a screen, and displays a three-dimensional measure on the camera designation display image. This is an image display system with a major display function.

A three-dimensional space memory that stores three-dimensional measures in which the left and right side surfaces and the bottom surface are divided by a mesh, and the bottom surface width, side surface height, and length of the solid measure are defined,
The pre-Symbol stereoscopic Measuring over, the installation portion in the specified direction, and a three-dimensional measure superimposed image display means for three-dimensionally displayed superimposed on the camera parameters specified display image,
The three-dimensional major superimposed image display means includes
When the first point and the second point on the camera parameter designation display image are designated, a straight line connecting the first point and the second point is set as a lateral width at the center of the bottom surface of the solid measure. The solid measure of the height and length so that the vertical plane P including the straight line becomes a symmetric plane in the specified direction is defined in the three-dimensional space memory, with the angle of the horizontal line as the specified direction. Three-dimensional measure generation means to generate;
The straight line of the three-dimensional measure in the three-dimensional space memory is used as a reference, and the portion when the three-dimensional measure is projected from the reference line onto the spherical surface at the angle of view in the shooting direction is superimposed on the camera parameter designation display image. The gist of the present invention is that it includes a plane image generating means for displaying .

  The present invention displays a camera parameter designation display image generated as if an entire surrounding image of a photographing point was photographed in a designated photographing direction and angle of view on a screen, and displays a three-dimensional measure on the camera designation display image. An image display program with a major display function.

Computer
The left and right side and bottom are divided by mesh, and a 3D space memory that stores the 3D measure in which the bottom width, side height, and length of the 3D measure are defined.
In the computer,
The interior of the pre-Symbol solid measure, the installation portion in the specified direction, in order to perform the function of a three-dimensional measure superimposed image display means for three-dimensionally displayed superimposed on the camera parameters specified display image,
The three-dimensional major superimposed image display means ,
When the first point and the second point on the camera parameter designation display image are designated, a straight line connecting the first point and the second point is set as a lateral width at the center of the bottom surface of the solid measure. The solid measure of the height and length so that the vertical plane P including the straight line becomes a symmetric plane in the specified direction is defined in the three-dimensional space memory, with the angle of the horizontal line as the specified direction. Solid measure generation means to generate,
The straight line of the three-dimensional measure in the three-dimensional space memory is used as a reference, and the portion when the three-dimensional measure is projected from the reference line to the spherical surface at an angle of view in the shooting direction is superimposed on the camera parameter fixed display image. The gist of the present invention is an image display program with a three-dimensional major display function for executing a function as a planar image generating means to be displayed.

As described above, according to the present invention, since the three-dimensional measure is superimposed on a 360-degree surrounding image such as a road image or a river image, the user's moving body passes by the road width or river width that is scheduled to proceed. You can see at a glance what you can do.

  Further, since the solid measure is generated by designating two points, a solid measure having a shape corresponding to the road width and the traveling direction can be generated.

  In addition, since a three-dimensional measure is generated for a 360-degree omnidirectional image, when one wants to see the width, height, and depth in the direction opposite to the traveling direction, the three-dimensional measure in the opposite direction is immediately displayed.

  The image for displaying the three-dimensional measure may be a road, a navigation route, a tunnel, or the like, but will be described as a road in this embodiment.

<Embodiment 1>
FIG. 1 is a schematic configuration diagram of an image display device with a three-dimensional major display function according to the first embodiment.

As shown in FIG. 1, the image display device with a stereoscopic measure display function includes a database 10 storing 360 degree omnidirectional images and attribute information thereof, an omnidirectional image information extraction unit 13, a designated position reading unit 14, A planar image generation unit 15, an all-around image position calculation unit 16, a stereoscopic measure output unit 17, a stereoscopic measure generation unit 18, a display control unit 19, a display unit 20, an update / update stop instruction unit 21, and the like. In addition, as shown in FIG. 2, an image with a camera angle of view is extracted from an all-around image (360 degrees) at an arbitrary point, and a three-dimensional measure is CG-combined and displayed on this image.

  The aforementioned database 10 includes an all-around image (360-degree image: also referred to as a panorama image) file photographed by mounting a camera with an omnidirectional photographing function on a vehicle, image file attribute information of each image file, and the like.

The image file attribute information includes, for example, the following.

・ Image acquisition coordinates (latitude and longitude of each frame)
・ Image acquisition direction (image center direction)
Camera Height The all-around image information extraction unit 13 extracts all-around images corresponding to the image acquisition coordinates from the designated position reading unit 14 and related information related to the images and stores them in the memories 11 and 12.

  As shown in FIG. 3, when a map (image acquisition coordinates) is displayed on the screen as shown in FIG. The image is output to the image reading unit 13.

  Further, instead of designating an arbitrary point from the map on the screen, the name, coordinates, etc. of the photographing point may be directly input.

  The memory 12 stores an all-around image at a specified position, and the memory 11 stores image acquisition coordinates (frame latitude and longitude), image acquisition orientation (image center orientation), camera height, and the like.

  The planar image generation unit 15 pastes an all-around image (an equidistant projection (vertical projection of a vertical angle and a horizontal projection of a horizontal angle)) on the spherical surface of the three-dimensional space memory 22. An image photographed with camera parameters (camera direction / focal length (field angle)) designated by the user from the center of the spherical surface (shooting center) is output to the display control unit 19. This image is called a camera parameter designation display image.

  In addition, the planar image generation unit 15 CG-combines a stereoscopic measure, which will be described later, with a camera parameter designation display image and outputs it to the display control unit 19. This image is simply referred to as a composite image.

  Further, the plane image generation unit 15 uses the solid measure line Wi as a reference from the center of the spherical surface, and the portion of the solid measure when the inside of the solid measure is viewed from the straight line Wi at the designated camera orientation and angle of view. Is synthesized by CG.

  When the cursor position is designated by the mouse in the camera parameter designation display image of the display unit 20, the omnidirectional image position calculation unit 16 reads the position of the cursor on the image as the first point h 1 and corresponds to the point h 1. The position p1 of the entire surrounding image is obtained, and this position Hp (X, Y, Z) is stored in the memory 19. If the point h1 is designated and the cursor is moved by the mouse and the next position is designated, it is determined that the next point h2 is confirmed, and the position p2 of the entire surrounding image corresponding to the point h2 is determined. Obtained and stored in the memory 19.

  The three-dimensional measure generation unit 18 superimposes and displays the three-dimensional measure shown in FIG. 8 on the camera parameter designation display image of the display unit 20, and the mesh width DW per one mesh of the three-dimensional measure, the three-dimensional measure length LM, and the three-dimensional measure. If the height HM, the width DW per mesh of the bottom of the solid mesh, the length DL per mesh of the bottom of the solid mesh, and the height DH per mesh of the side of the solid mesh are entered, Capture data internally.

  Then, a straight line Wi connecting the constraining points p1 and p2 at the positions p1 and p2 (hereinafter referred to as constraining points p1 and p2) of the omnidirectional image is generated in the memory 19, and the vertical plane P including the straight line Wi becomes a symmetry plane. A solid measure is generated in the memory 20.

  The memory 20 is a three-dimensional space memory similar to the memory 22, and has a three-axis coordinate system, for example, as shown in FIG. 4A, defines the constraint point p 1 as the origin, and defines the constraint point p 2 as three axes. A solid measure is generated in which the vertical plane P including the straight line wi connecting p1 and p2 is a symmetric plane.

  The update / update stop instructing unit 21 specifies that the point h1 (cursor) on the camera parameter designation display image is designated (mouse click), the point h2 is not confirmed (mouse click), and the cursor is moved. Then, the next point is unconfirmed, and a solid major update instruction is output to the solid major generation unit 18.

  When the point h2 is confirmed, the solid measure generation unit 18 stops the generation of the solid measure.

  That is, the solid measure generation unit 18 regenerates the solid measure in the memory 22 in accordance with the change of the constraint point p2 changed by the movement of the cursor. By this operation, the solid measure can be rotated. That is, as shown in FIG. 4B, the angle β with respect to the X axis connecting the constraint point p2 is the rotation angle, and this angle β is the direction in which the vertical plane P is generated.

  The three-dimensional measure output unit 17 reads the three-dimensional measure in the memory 22 and outputs it to the planar image generation unit 15. In response to this, the planar image generation unit displays the three-dimensional measure in an overlapping manner on the camera parameter designation display image.

  The image display device with a three-dimensional major display function configured as described above will be described below with reference to the flowchart of FIG. The three-dimensional measure is a virtual mesh that is displayed superimposed on the actual captured image.

  An example of a typical solid measure is shown below. The solid measure has a structure in which a virtual road surface has a rectangular bottom surface with a width WM and a length LM, and a rectangular side surface with a vertical length LM and a height HM stands on both sides of the rectangle. The solid measure has a mesh line in a horizontal direction DW per mesh, a length direction DL per mesh, and a vertical direction DH per mesh as a guide. Note that WM, HM, and LM are not necessarily integral multiples of DW, DH, and DL.

  The all-around image capturing unit 13 reads the position (position or name on the map) designated by the operator, and reads the all-around image (image file) and image file attribute information of the image file corresponding to this position (S1). ).

  In addition, the operator displays a length LM, a height HM, a lateral direction DW per mesh, a length direction DL per mesh, and a vertical per mesh on a sub-screen (not shown) of the screen. Enter the initial parameter for direction DH. The initial parameter is read by the solid major generation unit 18 of FIG. 1 and stored in a memory (not shown) (S2).

  Through the processing in step S 1 described above, the planar image generation unit 15 pastes the entire surrounding image on the spherical surface of the three-dimensional space memory 22, extracts the image in the camera direction designated by the operator from the photographing center, and outputs it to the display control unit 19. To do. This image is written in the image memory and displayed on the screen.

  Next, the operator installs the first constraint point p1. In setting the restriction point p1, the operator designates one end of the road as the point h1 on the screen 20 on which the camera parameter designation display image is displayed. For example, it is preferable to install under an object to be measured along a road such as an electric wire (for example, under a power pole).

  The all-around image position calculation unit 16 reads this point h1, and calculates a constraint point p1 on the all-around image (installation of the first constraint point in FIG. 5) (S3).

  In order to calculate the three-dimensional coordinates of p1 from the coordinates h1 on the camera parameter designation display image, first, h1 is converted into the image coordinates on the whole surrounding image, and from this, the vertical angle and the horizontal angle are calculated. A point where the direction of the horizontal angle intersects the road surface is obtained, and this is defined as p1.

For example,
(1) Assume that the height (Hc) from the road surface to the camera is known and the camera is installed vertically. Assuming that the horizontal plane Hc from the camera is the virtual road surface, if the vertical angle θv and horizontal angle θh to the feature on the road surface are measured on the entire surrounding image, the distance L from the camera is obtained as shown in FIG. It can be calculated by the following formula.

L = Hc × tan (θv) (Formula 1)
The relative position (X, Y, Z) from the camera of the feature on the road surface along with the horizontal angle to the feature can be calculated by the following equation.

(X, Y, Z) = (L ・ cos (θh), L ・ sin (θh),-Hc) (Formula 2)
Note that the vertical angle θv and the horizontal angle θh can be calculated from the image coordinates (x, y) of the lower left origin on the entire peripheral image of the image size (col, row) by the following equations.

θv = y × (180 / row)
θh = -x × (360 / col) +180 (Formula 3)
The constraint point p1 (X1, Y1, Z1) is determined by these equations.

A method for converting the coordinates h1 on the camera parameter designation display image into the image coordinates (x, y) on the entire surrounding image will be described later.

Refer to FIG. 13 of the second embodiment for the calculation of the constraint points. The restraint point p1 is stored in the memory 19.

  Next, the operator installs a second constraint point p2. In the installation of the restraint point p2, the operator designates the other end of the road as the point h2 (in FIG. 5, the second restraint point is placed) (S4).

  The omnidirectional image position calculation unit 16 reads the pixel coordinates of the point h2, and applies the processing for obtaining the position on the omnidirectional image to the point h2 by the above formula to determine the constraint point p2 (after determination), The point p2 is stored in the memory 19.

  It is determined whether or not the above-mentioned constraint point p2 is a confirmation of the constraint point p2 (S5). When the constraint point p2 is confirmed, the position of the moved cursor (h2i: i = pixel coordinate) is read and corresponds to the position. The restraint point p2 is calculated.

  This is possible by measuring the coordinates on the omnidirectional image developed by the equirectangular projection described above, but the camera parameter designation display is reproduced from the omnidirectional image in the same way as when taken under the shooting conditions of a certain camera. You may go on the image.

  In the present embodiment, points h1 and h2 are designated on the camera parameter designation display image to determine the constraint points p1 and p2, and the solid measure is displayed on the camera parameter designation display image based on the constraint points. Yes.

  That is, as shown in FIG. 7, the image coordinates (x ′, y ′) of the lower left origin can be converted by a procedure F determined by the camera parameters specified for the image coordinates (x, y) on the entire surrounding image.

  The camera parameters described above are the horizontal angle, vertical angle, angle of view (horizontal / vertical) of the drawing rectangle on the screen from the shooting viewpoint, and the like.

(x, y) = F (x ', y') (Formula 4)
On the other hand, when the constraint points p1 and p2 are determined, the three-dimensional measure generation unit 18 generates a three-dimensional measure on the memory 20 as shown in FIG. 4B, and at the same time, the planar image generation unit generates the all-around image and the three-dimensional measure. Synthesize and draw on the screen (drawing a solid measure in FIG. 5) (S6).

(3D major generation process)
The constraint point is assumed to be on the virtual road surface, and the vertical plane P including the straight line wi connecting the constraint points p1 and p2 is generated so as to be a symmetrical plane. That is, P1 is defined at the origin of the three-dimensional space coordinates of the memory 20, p2 defined on the XY coordinate plane is connected by a straight line Wi, and initial parameters of length LM, height HM, and per mesh A vertical plane P including the above-mentioned straight line Wi obtained by rotating a solid measure based on the horizontal direction DW, the length direction DL per mesh, and the vertical direction DH per mesh at an angle β with respect to the X axis. To a three-dimensional spatial coordinate system defined by three axes (see FIG. 4B).

  Generation of camera parameter specification display image from all-around image and coordinate conversion procedure F from coordinates (x ', y') on camera parameter specification display image to corresponding coordinates (x, y) on all-around image F (x ′, y ′) can be realized by combining a library for CG synthesis such as OpenGL (an all-around image position calculation unit).

  The three-dimensional measure output unit 17 defines the center of the spherical surface with the Wi of the three-dimensional measure in the three-dimensional space coordinate system as the center (memory 22 of the planar image generation unit 15).

  Then, the plane image generation unit 15 displays an image when the inside of the three-dimensional measure is superimposed on the camera parameter designation display image from the center of the three-dimensional measure Wi defined in the spherical center memory 22 via the display control unit 19. Are displayed on the screen (see FIG. 2).

  In addition, DL, DW, DH, HM, LM, and the second constraint point can be changed (S7, S8, S9, S10, S11, S12).

  Further, the height HM of the three-dimensional measure is calculated and displayed on the screen (S13). Thereby, the height to the electric wire can be seen at a glance (see FIG. 9).

<Embodiment 2>
As shown in FIG. 10, the three-dimensional major display function of the present embodiment is implemented in a display system having map display means, photographing position display means, photographed image display means, route search interlocking means, image search means, and image measurement means. May be.

  The geographic display means 101 reads the map data 108 stored in the storage device 106, and displays the map while scrolling, switching scales, switching display items, switching display colors, and the like.

  The shooting position display means 102 adds the cut-out image data f4 stored in the storage device 106 to the map displayed by the geographic display means 101 (image file of all-around image, attached information of image file (image acquisition coordinates, image acquisition direction, From the image acquisition link ID, the order in the acquisition link, the image acquisition camera information (camera height, etc.), and the link graph structure (including the list of link IDs connected to each node), as shown in FIG. The user draws a shooting position, and the user designates the drawing position with a mouse click or the like, and displays a shot image at a desired shooting point.

  The above-described cut-out image data refers to, for example, an image obtained by cutting out all-around images in an arbitrary area from among a 360-degree all-around image group of a large number of shooting points taken in an administrative district. It is thinned out at intervals.

  When one of the shooting positions is designated by a mouse operation or the like, the captured image display means 103 searches using the image acquisition coordinates of the image file attached information of the cut-out image data of the image closest to the shooting position, and the closest image Read the file and display it. For example, an image photographed with arbitrary camera parameters (camera direction / focal length (angle of view)) from the photographing center is synthesized and displayed by means such as CG processing.

  The route search interlocking unit 104 uses the road network included in the map data 108 to search for a route from the designated start point coordinates to the end point coordinates, and displays the route on the map displayed by the geographic display unit 101.

  The above-described road network includes, for example, a travel locus pattern, a road shape, a width, and the like. The image search means 105 searches for an image of the object being photographed.

  Then, as shown in FIG. 11, the image measuring unit 110 includes a road surface length measuring unit, a road surface continuous line measuring unit, a height measuring unit, and the three-dimensional major display unit of the first embodiment. Have.

  The length measurement means on the road surface is a function for measuring the length on the road surface such as the road width.

  FIG. 12 is a schematic configuration diagram of a road surface length measuring function according to the second embodiment. A description of the same parts as in FIG. 1 will be omitted. FIG. 13 is a flowchart for explaining the operation of the road surface length measuring means.

  As shown in FIG. 12, the road surface length measurement function includes a horizontal measure output unit 25. The horizontal measure output unit 25 reads the three-dimensional position of the memory 19, outputs a line connecting them to the plane image generation unit 15, and displays the line on the camera parameter designation display image.

As shown in FIG. 13, first, the omnidirectional image information extraction unit 13 reads the image file in the memory 11 and its attributes in the memory 12, and performs camera parameter designation display (S20).

  Next, the omnidirectional image position calculation unit 16 measures the image coordinates of the first point of the feature to be measured by the operator and calculates the three-dimensional coordinates on the camera parameter designation image (S21).

  Specifically, on the camera parameter specification display image, first click the specified position with the mouse, measure the image coordinates (x ', y'), and convert to all-around image coordinates (x, y) using (Equation 4). To do. Further, the horizontal azimuth and vertical azimuth are calculated by (Equation 3), and the three-dimensional coordinates (X, Y, Z) are obtained by (Equation 2) (S21a to S21d).

  Next, along with the movement of the mouse, the omnidirectional image position calculation unit 16 stores the three-dimensional coordinates corresponding to the mouse position in the memory 19 while calculating the three-dimensional coordinates corresponding to the above-described processing of S21a to S21d (S22). Each time the three-dimensional coordinates are stored in the memory 19, the horizontal measure output unit 25 superimposes and displays (FIG. 14b) the horizontal measure (FIG. 14a) having these two points at both ends (S23). Next, it is determined whether or not it is confirmed (S24). If it is not confirmed in step S24, the process returns to step S22.

  If it is determined to be fixed, the process proceeds to the next process. Specifically, click the mouse at the position you want to confirm.

  Next, when it is confirmed, the confirmed length between the two points is displayed on the screen (FIG. 14a), and if necessary, it is stored in the file together with the identification information (name, code, etc.) of the measured feature. It is output (S25).

  At that time, characters indicating the scale and the measurement length may be displayed simultaneously (FIG. 14a).

(Measurement of continuous line on road surface)
FIG. 15 is a schematic configuration diagram of the road surface continuous measurement function. In FIG. 15, the description of the same reference numerals as in FIG. 1 is omitted.

  FIG. 16 is a flowchart for explaining the operation of the continuous line measuring means on the road surface.

  If the measurement points are configured as continuous broken lines, facilities on the road surface such as intersection shapes, pedestrian crossings, and stop lines can be simply drawn.

  The continuous line measurement function on the road surface is a function for measuring features on the road (pedestrian crossing, center line, intersection shape) and the like as continuous line segments.

  Except for performing measurement of two or more points, displaying a continuous line segment in place of a horizontal measure, and outputting a coordinate sequence of each point to a file or the like as an output, the same as in the second embodiment. is there. The output coordinate sequence has an independent ID, and if necessary, converts it into geographic coordinates (latitude and longitude) and outputs it.

  As shown in FIG. 15, a map data creation unit 26 and a continuous line display unit 28 are provided. When the map data creation unit 26 is confirmed, the map data creation unit 26 stores the three-dimensional coordinates stored in the memory 19 in correspondence with the input identification codes such as numbers and symbols in the memory 27, and outputs them as necessary.

  Each time the three-dimensional coordinates are stored in the memory 19, the continuous line display unit 28 reads these coordinates, outputs a line connecting them to the plane image generation unit 15, and superimposes them on the camera parameter designation display image.

  This will be described below with reference to the flowchart of FIG.

  First, the all-around image information extraction unit 13 reads an image file in the memory 11 and its attribute in the memory 12 and performs camera parameter designation display (S30).

  Next, the omnidirectional image position calculation unit 16 measures the image coordinates of the first end (N = 1) of the feature to be measured by the operator and calculates the three-dimensional coordinates on the camera parameter designation image (S31). .

  Specifically, on the camera parameter specification display image, first click the specified position with the mouse, measure the image coordinates (x ', y'), and convert to all-around image coordinates (x, y) using (Equation 4). To do. Further, the horizontal and vertical directions are calculated by (Equation 3), and the three-dimensional coordinates (X, Y, Z) are obtained by (Equation 2).

  Next, along with the movement of the mouse, the omnidirectional image position calculation unit 16 stores the three-dimensional coordinates corresponding to the mouse position in the memory 19 while calculating the three-dimensional coordinates in accordance with the processing procedure of S21a to S21d.

Next, when the second point (N = 2) is designated, the three-dimensional coordinates are calculated as in step S31 (S32).
At this time, the continuous line display unit 28 reads the three-dimensional coordinates in the memory 19 and displays them as a line connecting the three-dimensional coordinates (S33).

  Next, it is determined whether the mouse is clicked or not (S34). In step S34, if it is not determined to be fixed, the process returns to step S32.

  If it is determined to be confirmed in step S34, the current position (N + 1) is determined as the second position (S35).

  Next, it is determined whether or not a new point has been added. If it has been added, the process returns to step S32 (S35).

  If it is determined in step S35 that no point is added, the map data creation unit 26 stores the set of three-dimensional coordinates in the memory 19 in the memory 27 in association with symbols, numbers, and the like.

  That is, by tracing an arbitrary region of the camera parameter designation display image with the cursor, the shape of the region can be extracted and the three-dimensional coordinates can be extracted, so that a map can be automatically generated from the photograph.

(Height measurement process)
As shown in FIG. 17, the features (such as utility poles) installed on the road surface can determine the relative position of the root position by measuring the vertical and horizontal angles of the lower end position. If measured together with the vertical angle of the upper end position, the height of the target feature can be determined. If the vertical angle at the lower end position is θv1, and the vertical angle at the upper end position is θv2, the height H can be calculated by the following equation.

H = Hc + L × tan (θv2-π / 2) (Formula 5)
The height measurement is to measure the height of a feature installed vertically like a utility pole.

First, when the lower end of the feature is on the road surface, as shown in the flowchart of FIG.
The image file in the memory 11 and its attribute in the memory 12 are read, and camera parameter designation display is performed (S40).

  Next, on the camera parameter designation image, the measurement of the image coordinates of the lower point of the utility pole to be measured and the calculation of the three-dimensional coordinates are performed (S41).

  Specifically, on the camera parameter specification display image, first click the specified position with the mouse, measure the image coordinates (x ', y'), and convert to all-around image coordinates (x, y) using (Equation 4). To do. Further, the horizontal and vertical directions are calculated by (Equation 3), and the three-dimensional coordinates (X, Y, Z) are obtained by (Equation 2).

  Next, while moving the mouse, the three-dimensional coordinates of the upper end of the utility pole corresponding to the mouse position are calculated by the above-described equations 3, 4, and 2 (S42), and the vertical measure with the lower end and the upper end at both ends is superimposed. Display (FIG. 13) (S43). Next, it is determined whether or not it is confirmed (S44). If it is not confirmed in step S44, the process returns to step S42.

  If it is determined to be fixed, the process proceeds to the next process. Specifically, click the mouse at the position you want to confirm.

  Next, when confirmed, the dimension of the confirmed vertical measure is displayed on the screen, and if necessary, it is output to a file together with the identification information (name, code, etc.) of the measured feature (S45). ). At that time, characters indicating the scale and the measurement length may be displayed at the same time.

The three-dimensional coordinates of the upper end and the lower end described above have the same X coordinate and Y coordinate. The Z coordinate specifies the height of the position where the horizontal coordinate distance is the same as the lower end point in the three-dimensional azimuth direction indicated by the mouse position. That is, if the horizontal and vertical orientations of the mouse position are θhm, θvm, and the three-dimensional coordinates of the lower end position are (X1, Y1, Z1), the three-dimensional coordinates of the upper end position (X2, Y2, Z2) are
X2 = X1
Y2 = Y1
Z1 = -z × S
S = (X1 × x + Y1 × y) / (x × x + y × y)
(x, y, z) = (sin (θvm) × cos (θhm), sin (θvm) × sin (θhm), -cos (θvm)) (Equation 8)
As required.

  In the above embodiment, the three-dimensional measure is the left and right side surfaces and the bottom surface. However, the three-dimensional measure may have a top surface, and each surface may be a spherical surface.

It is a schematic block diagram of an image display apparatus with a three-dimensional major display function. It is explanatory drawing explaining the superimposition screen of a solid major. It is explanatory drawing explaining extraction of the camera parameter designation | designated display image of this Embodiment. It is explanatory drawing explaining the production | generation of a solid major. It is a flowchart explaining operation | movement of the image display apparatus with a three-dimensional major display function. It is explanatory drawing explaining calculation of the position in the surrounding image of this Embodiment. It is explanatory drawing explaining calculation of the position of the surrounding image and camera parameter designation | designated display image of this Embodiment. It is explanatory drawing explaining the parameter of a solid major. It is explanatory drawing explaining the concept of a solid major. FIG. 3 is a schematic configuration diagram of an image display system according to a second embodiment. It is a schematic block diagram of an image measurement means. It is a schematic block diagram of the length measurement function on a road surface. It is a flowchart explaining operation | movement of the length measurement means on a road surface. It is explanatory drawing explaining the display of a horizontal measure. It is a schematic block diagram of a map data generation function. It is a flowchart explaining a map data generation function. It is explanatory drawing explaining height calculation when the lower end of a feature exists on a road surface. It is a flowchart explaining the height calculation when the lower end of the feature is on the road surface.

Explanation of symbols

  FIG. 1 is a schematic configuration diagram of an image display device with a three-dimensional major display function according to the first embodiment.

10 Database 10
13 All-around image information extraction unit 14 Specified position reading unit 15 Plane image generation unit 16 All-around image position calculation unit 17 3D major output unit 18 3D major generation unit

Claims (14)

With a 3D major display function that displays on the screen a camera parameter specification display image that is generated as if the entire surrounding image of the shooting location was captured with the specified shooting direction and angle of view. An image display system,
A three-dimensional space memory that stores three-dimensional measures in which the left and right side surfaces and the bottom surface are divided by a mesh, and the bottom surface width, side surface height, and length of the solid measure are defined,
The pre-Symbol stereoscopic Measuring over, the installation portion in the specified direction, and a three-dimensional measure superimposed image display means for three-dimensionally displayed superimposed on the camera parameters specified display image,
The three-dimensional major superimposed image display means includes
When the first point and the second point on the camera parameter designation display image are designated, a straight line connecting the first point and the second point is set as a lateral width at the center of the bottom surface of the solid measure. The solid measure of the height and length so that the vertical plane P including the straight line becomes a symmetric plane in the specified direction is defined in the three-dimensional space memory, with the angle of the horizontal line as the specified direction. Three-dimensional measure generation means to generate;
The straight line of the three-dimensional measure in the three-dimensional space memory is used as a reference, and the portion when the three-dimensional measure is projected from the reference line onto the spherical surface at the angle of view in the shooting direction is superimposed on the camera parameter designation display image. An image display system with a three-dimensional major display function, comprising: a planar image generation means for displaying. Three-dimensional major superimposed image display means,
The change of the second point is accepted until the second point of the two points with respect to the first point is determined, and the changed second point is changed for each change. update the position to as the straight line, according to claim 1 Symbol placement stereoscopic measure display function image display system, characterized in that it comprises means for determining the width of the center of the bottom surface of the three-dimensional measure in straight line the update. A storage means for storing the entire surrounding image and a camera height at a shooting point of the entire surrounding image;
The three-dimensional coordinates of the entire surrounding image of the designated point are
The camera height and, according to claim 1 or 2 Symbol placement stereoscopic measure display function image display system characterized by having means for determining based on the distance and the horizontal angle to said point. The planar image generation means includes
The camera parameter designation display image generated as if the spherical surface was photographed from the inside with a designated shooting direction and angle of view from the center of the sphere, and the camera parameter designation display image is displayed on the screen. ,
The three-dimensional space memory is configured to three-dimensionally display a portion where the interior of the solid measure in the specified direction from the center is superimposed on the camera parameter specification display image. 1, 2 or 3 Symbol mounting stereoscopic measure display function image display system. 3. The image display system with a three-dimensional measure display function according to claim 1, 2, 3 or 3, further comprising means for displaying a dimension in any or all of the width, height, and depth of the mesh of the three-dimensional measure. The three-dimensional measure of the width, height or length or stereoscopic measure display function image display system according to claim 1, 2, 3, 4 or 5, wherein a and a means for displaying the dimensions all. 2. The display device according to claim 1, further comprising means for displaying a length of a straight line connecting both points when the first point and the second point are designated on the camera parameter designation display image. The image display system with a three-dimensional major display function according to 2, 3, 4, 5 or 6. With a 3D major display function that displays on the screen a camera parameter specification display image that is generated as if the entire surrounding image of the shooting location was captured with the specified shooting direction and angle of view. An image display program,
Computer
The left and right side and bottom are divided by mesh, and a 3D space memory that stores the 3D measure in which the bottom width, side height, and length of the 3D measure are defined.
In the computer,
The pre-Symbol stereoscopic Measuring over, the installation portion in the specified direction, in order to perform the function of a three-dimensional measure superimposed image display means for three-dimensionally displayed superimposed on the camera parameters specified display image,
The three-dimensional major superimposed image display means ,
When the first point and the second point on the camera parameter designation display image are designated, a straight line connecting the first point and the second point is set as a lateral width at the center of the bottom surface of the solid measure. The solid measure of the height and length so that the vertical plane P including the straight line becomes a symmetric plane in the specified direction is defined in the three-dimensional space memory, with the angle of the horizontal line as the specified direction. Solid measure generation means to generate,
The straight line of the three-dimensional measure in the three-dimensional space memory is used as a reference, and the portion when the three-dimensional measure is projected from the reference line to the spherical surface at an angle of view in the shooting direction is superimposed on the camera parameter fixed display image. An image display program with a three-dimensional major display function for executing a function as a planar image generating means to be displayed. In the computer,
The three-dimensional major superimposed image display means,
The change of the second point is accepted until the second point of the two points with respect to the first point is determined, and the changed second point is changed for each change. 9. The program for displaying an image with a three-dimensional measure display function according to claim 8 , wherein a function as means for determining a horizontal width at the center of the bottom surface of the three-dimensional measure is executed with the updated line as the straight line. . A storage means for storing the entire surrounding image and a camera height at a shooting point of the entire surrounding image;
In the computer,
The three-dimensional coordinates of the entire surrounding image of the designated point are
The camera and the height, the point the distance to the horizontal angle Ru to execute the function of the means for creating calculated on the basis of the 請 Motomeko 8 or 9 stereoscopic measure display function image display program according to. The planar image generation means includes
The camera parameter designation display image generated as if the spherical surface was photographed from the inside with a designated shooting direction and angle of view from the center of the sphere, and the camera parameter designation display image is displayed on the screen. ,
The steric Measuring chromatography of the solid measure storage means, the installation portion in the designated direction from the center, to perform the function of the means for displaying three-dimensionally superimposed on the camera parameters specified display image The image display program with a three-dimensional major display function according to claim 8, 9 or 10. In the computer,
12. The image display with a three-dimensional measure display function according to claim 8, 9 , 10, or 11 for executing a function as means for displaying a dimension on any or all of the width, height, and depth of the mesh of the three-dimensional measure. program. In the computer,
13. The program for displaying an image with a three-dimensional measure display function according to claim 8 , 9, 10, 11 or 12, for executing a function as means for displaying a dimension on a width, height, length or all of the three-dimensional measure. In the computer,
8. for executing said on camera parameters specified display image first point, the function of the length of the straight line in which the second point of connecting the points of both the time specified as a means of dimensional representation, 9, 10, 11, 12 or 1 3 Symbol placement stereoscopic measure display function image display program.