JP4975003B2 - Target position specifying apparatus and target position specifying method - Google Patents

Description

  The present invention relates to a target position specifying device and a target position specifying method capable of photographing a target in which a disaster has occurred from the air and accurately specifying the position of the target.

  Conventionally, when a large-scale disaster such as a flood or an earthquake occurs, a disaster site is photographed with a helicopter or the like, and the extent of the disaster or the presence or absence of an emergency measure is confirmed from the captured image. In addition, when a fire should occur and fire extinguishing activities must be performed immediately, the location of the fire site is identified from the captured video, and a fire engine or the like is rushed. Such a system is called a helicopter system, and is composed of a transmitting station mounted on the helicopter side and a receiving station installed on the ground side.

In this way, as a method of photographing a disaster site from the air with a helicopter and displaying the position of the captured image accurately, the captured image is transmitted to the ground, and at the same time, from the position information of the helicopter, the direction of the TV camera, and the attitude information of the aircraft Performs three-dimensional identification processing of the shooting position, extracts attribute data (address, building name, etc.) corresponding to the shooting position data received on the ground from the electronic map, and shot this attribute data received on the ground as character data There is one in which position information on a captured image from a helicopter is displayed by being added to the image and displayed on a display device. (See Patent Document 1)
As a terrain recognition device and terrain recognition method for recognizing the three-dimensional shape of the ground, a method of calculating the latest terrain data using a stereo image is also known. (See Patent Document 2)

JP 2004-226190 A JP 2004-151883 A

  What was described in the conventional patent document 1 is a photographed image and flight information transmitted from the helicopter to the ground, and three-dimensional terrain data including altitude information about the undulation of the ground surface accumulated in the electronic map, The position of the center point of the shooting range on the ground surface is specified, and three-dimensional terrain data must be created in advance. For this reason, there is a problem that it cannot be used in an area where no terrain data exists, and an arbitrary position cannot be specified. In addition, when the terrain is deformed due to an earthquake or landslide, the latest terrain data taking into account the deformation cannot be obtained immediately after the disaster, so there is a problem that the exact position cannot be specified.

  Furthermore, it is desirable to collect the disaster information and register it in the system with a helicopter working over the disaster site rather than a ground conference room where information is limited. However, in the method for generating a three-dimensional (3D) model from the above-described aerial image, many calculations are required for generating the three-dimensional model, so that the calculation unit needs to be increased in speed and size. However, rigorous conditions such as temperature characteristics, vibration resistance, and radio wave characteristics are required for equipment mounted on helicopters. Also, in terms of operation, the installation space of the helicopter is limited and the load weight is also limited, so it is desirable that the equipment be small and lightweight. For this reason, it is difficult to install a high-speed computing unit that generates a three-dimensional model in a helicopter aircraft. As a result, there is a problem that it is difficult to register the three-dimensional information of the disaster information on board.

Also, when registering 3D information on the ground side, the data transmission path between the helicopter and the receiving station on the ground is generally not suitable for large-scale data transmission, and still images necessary for generating a 3D model are required. Cannot be obtained in real time on the ground, and there is a problem that 3D information cannot be registered on the ground.

  The present invention has been made in order to solve the above-described problems. The position of a target such as a disaster spot is designated on the plane, and a three-dimensional modem is generated on the ground to generate a spatial target. An object of the present invention is to obtain a target position specifying apparatus and target position specifying method capable of specifying a position.

  The target position specifying apparatus according to the present invention is a target position specifying apparatus configured by a transmitting station mounted on an aerial moving body and a receiving station installed on the ground. A video input device, a video display device that displays video captured by the video input device, a flight information acquisition device that acquires flight information of an aerial moving object, and an input that specifies a target from the video captured by the video input device Device, flight information, signal processing device that processes the coordinate information of the target specified by the input device and time information at the specified time, video captured by the video input device, flight information processed by the signal processing device, coordinates A transmitting device that transmits information and time information to a receiving station, and the receiving station receives a video, flight information, coordinate information, and time information transmitted by the transmitting device; The received time information to generate a three-dimensional model using historical video and flight information as a key, in which a video analysis system for identifying the three-dimensional position coordinate information of the target received.

  The target position specifying method of the present invention shoots a ground image by a television camera mounted on an aerial moving body, transmits the captured image to the ground, and the position, posture of the aerial moving body when the captured image is captured, TV camera direction, tilt, zoom, flight information with time, coordinate information of the target specified in the captured video and time information at the specified time point are transmitted to the ground, and the captured video and time information received on the ground A three-dimensional model is generated using past images and flight information as keys, and the three-dimensional position of the received coordinate information of the target is specified.

  According to the present invention, when a captured image is processed as a three-dimensional model, it is divided into an aerial moving body side and a ground side, and processing with a large amount of calculation is performed on the ground side. The amount of processing can be reduced. As a result, the device on the aerial moving body side can be simplified, and it can be reduced in size and weight. In addition, the position of the target specified on the video screen on the aerial moving object side can be specified as a three-dimensional position on the ground side, so that three-dimensional terrain data including altitude information on the ground surface undulation is stored in advance. There is no need to prepare an electronic map, and any point in the video can be designated as a target.

Embodiment 1 FIG.
Hereinafter, a target position specifying device according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a system configuration diagram showing Embodiment 1 of the present invention, and FIG. 2 is a flowchart for explaining the operation of Embodiment 1 of the present invention.
In FIG. 1, the target position specifying device includes a transmitting station 100 mounted on an airborne mobile body such as a helicopter or an airplane, and a receiving station 200 installed on the ground. In the following description, a case where a helicopter is used as an aerial moving body will be described.

The transmitting station 100 mounted on the helicopter captures a disaster site or the like from the air and transmits the captured image to the receiving station 200 on the ground, and a television camera for capturing the image of the site and a means for outputting the image signal A video input device 111, a flight information acquisition device 112 that acquires helicopter flight information at the time of shooting, a signal processing device 120 that processes video and flight information, and a video that displays video shot by the video input device 111 A display device 131, an input device 132 for designating a target from the captured video, a video captured by the video input device 111, and data such as flight information acquired by the flight information acquisition device 112 to the receiving station 200 140.

Further, the signal processing device 120 branches the video from the video input device 111 and the flight information from the flight information acquisition device 112, and stores and outputs them on the video specified by the input device 132 and the information management unit 121. And a target information acquisition unit 122 that acquires time information at a specified point in time while acquiring the display position of the target with pixel coordinate values.
The TV camera of the video input device 111 is supported by a gimbal mechanism mounted on the helicopter, and the flight information acquisition device 112 provides information on the position, orientation, and time of the helicopter as well as the orientation, tilt, and zoom information of the camera. Obtained as information.
The transmission device 140 receives, as data, the flight information obtained by the information management unit 121, the coordinate information of the pixel coordinate value of the target obtained by the target coordinate acquisition unit 122, and the time information when the target is designated. The data is transmitted to the station 200.

  The receiving station 200 installed on the ground includes a receiving device 210 that receives the video signal and data transmitted from the transmitting device 140, an information management unit 221 that stores the video and data received by the receiving device 210, and information The image analysis device 230 identifies the spatial position of the target from the images stored in the management unit 221. Furthermore, the video analysis device 230 includes a position specifying unit 231 that calculates the spatial position of the target from the data received by the receiving device 210, and a three-dimensional model that is a three-dimensional pseudo image used for specifying the position of the target. And a 3D model generation unit 232 for generating.

Next, a target position specifying method in the target position specifying apparatus shown in FIG. 1 will be described with reference to FIG. In the flowchart shown in FIG. 2, the transmission procedure of video and flight information will be described first.
In step S21 of FIG. 2, in the transmitting station 100, the television camera of the video input device 111 captures a momentary video at a disaster site or the like, outputs the video to the information management unit 121 of the signal processing device 120, and stores the video.
In step S22, the flight information acquisition device 112 acquires flight information every moment in the helicopter equipped with the transmission station 100 in synchronization with the video, and outputs the flight information to the information management unit 121 of the signal processing device 120 to accumulate flight information. To do. Here, the flight information is information on the position and orientation of the helicopter, the direction, tilt, zoom, and time of the camera of the video input device 111.

In step S <b> 23, the information management unit 121 of the signal processing device 120 outputs the input video to the video display device 131, and the video display device 131 displays the momentary video captured by the video input device 111 on the screen.
In step S <b> 24, the momentary video captured by the video input device 111 is output from the information management unit 121 of the signal processing device 120 to the transmission device 140 and transmitted from the transmission device 140 to the reception station 200. Further, the flight information acquired by the flight information acquisition device 112 is output from the information management unit 121 of the signal processing device 120 to the transmission device 140, and the transmission device 140 receives the flight information every moment in synchronization with the transmission of the video. Send to. In this way, the transmission information is transmitted from the transmitting station 100 to the receiving station 200 in synchronization with the video signal and the video signal.

Next, in step S <b> 25, in the receiving station 200, the receiving device 210 receives the video and data such as flight information transmitted from the transmitting device 140 of the transmitting station 100.
In step S <b> 26, the video and flight information received by the receiving device 210 are accumulated in the information management unit 221. The video and flight information are also synchronized when received. When the video and flight information are stored in the information management unit 221, the video and flight information are stored in association with information such as time.

Regarding the method for acquiring the location information on the ground when the disaster spot is confirmed on the on-board video display device 131 in the state where the video and flight information are transmitted and stored in synchronization as described above. explain.
In the transmitting station 100, when the operator confirms a fire or collapse in the video displayed on the video display device 131, the input device 132 can designate a building target such as a fire or collapse in the video.
In step S27, the target is designated within the image frame in the video displayed on the video display device 131 by the input device 132. The target can be specified by clicking with the mouse, touching with the touch panel, or operating the camera to lock the target so that the target is at the center of the video.
In step S28, the target information acquisition unit 122 of the signal processing device 120 acquires the coordinate information obtained by the pixel coordinate values of the display position of the target specified by the input device 132 and the time information when the target is specified. And accumulate.
In step S29, the coordinate information of the target acquired by the target information acquisition unit 122 of the signal processing device 120 and the time information when the target is specified are output to the transmission device 140, and the reception device 140 200 transmits the coordinate information and time information of the target.

Next, an operation for specifying a target based on the captured video, flight information, target coordinate information, and time information received by the receiving station 200 will be described.
In step S31, the receiving device 210 receives the coordinate information and time information of the target transmitted from the transmitting device 140 at the receiving station 200.
In step S32, when the receiving device 210 receives the coordinate information and time information of the target, the information is output to the position specifying unit 231 of the video analyzing device 230, and the position specifying unit 231 of the video analyzing device 230 receives the received coordinates. Information and time information are output to the 3D model generation unit 232. The 3D model generation unit 232 acquires, from the information management unit 221, flight information corresponding to the time at which the target is specified by the transmission station 100 based on the time information output from the position specifying unit 231.

In step S33, the 3D model generation unit 232 generates a still image corresponding to the time before and after the time when the target is designated from the past video stored in the information management unit 221 using the time information as a key.
In step S34, the 3D model generation unit 232 generates a three-dimensional model of the captured video using the generated still image and flight information as sources. In this way, the 3D model generation unit 232 generates a three-dimensional model at the time when the target is specified.

Here, since the three-dimensional model is generated from the still image, an arbitrary point in the still image can be uniquely associated with a point in the three-dimensional model. In addition, regarding the still image used to generate the 3D model, it is possible to calculate where the shooting range corresponds to the ground surface from the flight information at the shooting time, so the 3D model created based on that can be calculated. Can also calculate the position in real space. That is, a point in the three-dimensional model can be uniquely associated with a real space position (latitude, longitude, altitude).
Therefore, in step S35, since the 3D model generation unit 232 acquires coordinate information transmitted from the machine by designating the position of the target with the pixel coordinate value in the image, this coordinate information is obtained in step S34. The position of the target can be specified by displaying the generated three-dimensional model (for example, adding a cross to the target). In this way, the spatial position information of the target can be acquired in the three-dimensional model of the captured image on the ground side.

  In general, three-dimensional processing requires many processes such as image frame extraction from video, target identification by image analysis, matching operation between images, and comparison with 3D basic data. In the first embodiment of the invention, the transmitting station on the helicopter side sends video, flight information, coordinate information, and time information to the ground receiving station, performs three-dimensional processing using these data at the ground receiving station, Since a large amount of processing is performed on the ground side, the processing on the helicopter side can be reduced to reduce the size and weight. Furthermore, the position of the target can be arbitrarily designated in the video screen on the helicopter side, and can be easily specified as the position of the target on the three-dimensional model image on the ground side.

Embodiment 2. FIG.
Next, a target position specifying method according to Embodiment 2 of the present invention will be described. In step S24 of the first embodiment described above, the information management unit 121 of the signal processing device 120 accumulates and compresses the flight information acquired by the flight information acquisition device 112. Further, the information management unit 121 outputs the compressed flight information triggered by a predetermined transmission cycle set in advance or a user's transmission command inputted every time to the transmission device 140 asynchronously with the video, and from the transmission device 140 to the reception station 200 transmits the coordinate information and time information of the target.
In this way, the frequency of data transmission can be reduced, and flight information can be compressed and transmitted, so that the amount of data transmitted by the data transmission device can be reduced.

Embodiment 3 FIG.
Next, a target position specifying apparatus according to Embodiment 3 of the present invention will be described. In the first embodiment described above, the case where the video and data are transmitted by the transmission device 140 has been described. However, in the invention of the third embodiment, the video and the data are transmitted separately.
FIG. 3 is a system configuration diagram of the target position specifying device according to Embodiment 3 of the present invention. The transmission device 140 transmits a video captured by the video input device 111 to the reception station 200 and a data transmission device 142 transmits data such as flight information acquired by the flight information acquisition device 112 to the reception station 200. It consists of and. The reception device 210 includes a video reception device 211 that receives a video signal transmitted from the video transmission device 141 and a data reception device 212 that receives data transmitted from the data transmission device 142. The other configurations are the same as those in FIG. 1, and the same or corresponding components are denoted by the same reference numerals and description thereof is omitted.

Next, the target position specifying method in Embodiment 3 of this invention is demonstrated. In step S24 of the first embodiment described above, the momentary video captured by the video input device 111 is output from the information management unit 121 of the signal processing device 120 to the video transmission device 141, and the data transmission device 142 transmits the video. Synchronously, every moment flight information is transmitted to the receiving station 200.
In step S25, the video transmitted from the video transmitting device 141 of the transmitting station 100 is received by the video receiving device 211, and the data such as the flight information transmitted from the data transmitting device 142 of the transmitting station 100 is received by the data receiving device 212. To receive.

In step S <b> 26, the video received by the video receiver 211 and the flight information received by the data receiver 212 are accumulated in the information management unit 221. Here, since the flight information received by the data reception device 212 includes the time when the flight information was acquired at the transmission station 100 (= the time when the video was shot at the transmission station 100), the time information is used as a key, The video received by the video receiver 211 and the flight information received by the data receiver 212 can be synchronized. In this way, when accumulating in the information management unit 221, the video and flight information are accumulated in association with time information as a key.
Since the operations in other steps are the same as those in the first embodiment, description thereof is omitted. By doing in this way, a video and flight information can be transmitted with a separate transmitting device.

Embodiment 4 FIG.
Next, a target position specifying device according to Embodiment 4 of the present invention will be described with reference to the drawings. In the first embodiment described above, the case where the video and data are transmitted by the transmission device 140 has been described. However, in the invention of the fourth embodiment, the data is multiplexed with the video signal and transmitted.

FIG. 4 is a system configuration diagram of a target position specifying device according to Embodiment 4 of the present invention. In the transmission station 100, the transmission device 140 multiplexes the data of the flight information, time information, and coordinate information on the video signal captured by the video input device 111, and the data multiplexing device 143 multiplexes the data. And a video transmission device 141 that transmits the multiplexed signal to the receiving station 200.
In the receiving station 200, the receiving device 210 receives the video signal transmitted from the video transmitting device 141, separates the video signal and data from the multiplexed signal received by the video receiving device 211, and receives the video signal. The flight information includes an information management unit 221, and the coordinate information and time information data include a data acquisition device 213 that outputs the data to the video analysis device 230.
The other configurations are the same as those in FIG. 1, and the same or corresponding components are denoted by the same reference numerals and description thereof is omitted.

  Next, the operation of FIG. 4 will be described. In the transmitting station 100, the information management unit 121 of the signal processing device 120 outputs the video input from the video input device 111 and the flight information input from the flight information acquisition device 112 to the data multiplexing device 143, respectively. . Further, the pixel coordinate value of the target specified in the video by the input device 132 is output to the target information acquisition unit 122 of the signal processing device 120. The target information acquisition unit 122 of the signal processing device 120 outputs the coordinate information of the target and the time information when the target is specified to the data multiplexer 143. The data multiplexer 143 multiplexes flight information, coordinate information, and time information data on the video signal by writing a barcode in the blank area of the video signal, and outputs the multiplexed data to the video transmitter 141. The video transmission device 141 transmits the multiplexed video signal and data signal to the receiving station 200.

  In the receiving station 200, the video receiving apparatus 211 receives the multiplexed signal of the video signal and the data signal transmitted from the transmitting station 100 and outputs them to the data acquisition apparatus 213. The data acquisition device 213 acquires multiplexed flight information, coordinate information, and time information data from the video signal, and stores the video and flight information in the information management unit 221. The coordinate information and time information obtained by the data acquisition device 213 are output to the video analysis device 230, and the video analysis device 230 creates a three-dimensional model corresponding to the time at which the target is designated by the transmission station 100. The generation of the three-dimensional model and the specification of the position of the target are the same as the method described with reference to FIG.

  As described above, according to the fourth embodiment, a data multiplexing device 143 is provided in the transmitting station 100 without installing a data transmitting device, and data such as flight information is multiplexed and transmitted on a video signal. The transmission path for data transmission can be dispensed with. On the other hand, the receiving station 200 can separate the video and data with the data acquisition device 213, generate a three-dimensional model on the ground, and acquire spatial position information of the target.

Embodiment 5 FIG.
Next, a target object specifying apparatus according to Embodiment 5 of the present invention will be described with reference to the drawings.
In the above-described third embodiment, the case where video and data are transmitted separately has been described. However, the invention of the fifth embodiment is a radio communication device for voice calls that is generally provided in a helicopter. 145 to be transmitted.

  FIG. 5 is a system configuration diagram of the target position specifying device according to the fifth embodiment of the present invention. The transmitting device 140 of the transmitting station 100 is the flight information and coordinate information from the signal processing device 120 instead of the data transmitting device 142. In addition, a conversion device 144 that converts the data of the time information into a voice signal and a communication wireless device 145 that transmits the voice signal converted by the conversion device 144 are provided. On the other hand, the receiving device 210 of the receiving station 200, instead of the data receiving device 212, is a communication wireless device 215 that receives an audio signal, and a conversion device 214 that converts the audio signal received by the communication wireless device 215 into data. And are provided. The other configurations are the same as those in FIG. 1, and the same or corresponding components are denoted by the same reference numerals and description thereof is omitted.

  Next, the operation of FIG. 5 will be described. In the transmission station 100, the information management unit 121 of the signal processing device 120 outputs the flight information input from the flight information acquisition device 112 to the conversion device 144. Further, the target information acquisition unit 122 of the signal processing device 120 outputs the coordinate information of the pixel coordinate value of the target specified in the video by the input device 132 and the time information at the time when the target is specified to the conversion device 144. To do. The conversion device 144 converts the flight information, coordinate information, and time information into audio signals and transmits them to the receiving station 200 via the communication radio 145.

  In the receiving station 200, the communication radio 215 outputs the received audio signal to the conversion device 214. The conversion device 214 acquires flight information, coordinate information, and time information from the audio signal, and the flight information is stored in the information management unit 221. On the other hand, the coordinate information and the time information are output to the position specifying unit 231 of the video analysis device 230, and the video analysis device 230 creates a three-dimensional model corresponding to the time at which the target is designated by the transmitting station 100. The generation of the three-dimensional model and the specification of the position of the target are the same as the method described with reference to FIG.

  As described above, the invention of the fifth embodiment can transmit the flight information, the coordinate information, and the time information data by the communication wireless device originally provided without installing the data transmission device, and the target object can be transmitted on the ground. Spatial position information can be acquired. Therefore, the transmitting station 100 can eliminate the need for a data transmitting transmission device, and the receiving station 200 can eliminate the need for a data receiving receiving device.

Embodiment 6 FIG.
Next, a target position specifying apparatus according to Embodiment 6 of the present invention will be described.
In the above first to fifth embodiments, the case where the current video and the current flight information are transmitted has been described. However, the invention of the sixth embodiment reproduces and transmits the past video and the past flight information. It is a thing.
Instead of outputting the current video and flight information, the information management unit 121 of the signal processing device 120 in FIG. 1 reproduces the video and flight information accumulated in advance and outputs them to the video display device 131 and the transmission device 140. At this time, coordinate information and time information are output at the time of recording. In this way, for example, even when shooting is performed in a wireless dead zone between the air and the ground, the stored information can be reproduced and used later.
Note that the coordinate information and time information may be output to the transmission device 140 as specified by the input device 132 with respect to the past video displayed on the video display device 131. At that time, the time may be a recording time or a reproduction time. All of the video, flight information, and the time when the target is specified need to be prepared.

  In the above embodiment, a case has been described in which radio waves are directly transmitted and received between the transmitting station mounted on the helicopter and the ground receiving station, but communication between the transmitting station mounted on the helicopter and the ground receiving station is performed. You may make it transmit and receive an electromagnetic wave via a satellite.

It is a system block diagram which shows Embodiment 1 and Embodiment 2 of this invention. It is a flowchart for demonstrating the operation | movement in Embodiment 1 of this invention. It is a system block diagram which shows Embodiment 3 of this invention. It is a system block diagram which shows Embodiment 4 of this invention. It is a system block diagram which shows Embodiment 5 of this invention.

Explanation of symbols

100: Transmitting station 111: Video input device 112: Flight information acquisition device 120: Signal processing device 121: Information management unit 122: Target object information acquisition unit 130: Transmission device 131: Video display device 132: Input device 140: Transmission device 141 : Video transmission device 142: Data transmission device 143: Data multiplexing device 144: Conversion device 145: Communication wireless device 200: Reception station 210: Reception device 211: Video reception device 212: Data reception device 213: Data acquisition device 214: Conversion Device 215: Communication wireless device 221: Information management unit 230: Video analysis device 231: Position specifying unit 232: 3D model generation unit

Claims (9)

In the target object specifying device composed of a transmitting station mounted on an airborne mobile body and a receiving station installed on the ground,
In the transmitting station, a video input device that captures and outputs a video, and
A video display device for displaying video captured by the video input device;
A flight information acquisition device for acquiring flight information of the airborne vehicle;
An input device for designating a target from a video photographed by the video input device;
A signal processing device for processing the flight information, the coordinate information of the target designated by the input device, and the time information at the designated time point;
A transmission device that transmits video captured by the video input device, flight information processed by the signal processing device, coordinate information, and time information to the receiving station;
The receiving station includes a receiving device that receives video, flight information, coordinate information, and time information transmitted by the transmitting device;
A target position specifying device comprising: a video analysis device that generates a three-dimensional model using past video and flight information using received time information as a key, and specifies a three-dimensional position of the received coordinate information of the target. The transmission device transmits video captured by the video input device to the receiving station, and data transmission that transmits flight information, coordinate information, and time information processed by the signal processing device to the receiving station. Having a device,
The receiving device includes: a video receiving device that receives a video transmitted by the video transmitting device; and a data receiving device that receives flight information, coordinate information, and time information transmitted by the data transmitting device. The target object specifying device according to claim 1. The transmission device multiplexes the data of the flight information, the coordinate information, and the time information processed by the signal processing device with the video transmission device that transmits the video captured by the video input device to the receiving station. A data multiplexer, and a signal from the data multiplexer is transmitted from the video transmitter to the receiving station,
The said receiving apparatus has a video receiver which receives the image | video transmitted by the said video transmitter, and a data acquisition apparatus which acquires multiple data from the video signal received by the said video receiver. The target object specifying device according to 1. The transmitting device transmits a video captured by the video input device to the receiving station, and converts the flight information, coordinate information, and time information processed by the signal processing device into an audio signal and receives the receiving station. A communication wireless device to transmit to
The receiving device receives a video transmitted by the video transmitting device, and a wireless communication device that receives flight information, coordinate information, and time information transmitted from the wireless communication device on the transmitting station side The target position specifying device according to claim 1, wherein:   5. The signal processing apparatus according to claim 1, further comprising an information management unit that accumulates flight information, coordinate information, and time information, and outputs the information to the transmission apparatus asynchronously with the video. The target object specifying device according to item 1.   The signal processing device stores the video captured by the video input device and flight information, coordinate information, and time information processed by the signal processing device, and the stored past video, flight information, coordinate information, and time information. 5. The target position specifying device according to claim 1, further comprising: an information management unit that outputs the information to the transmitting device. The signal processing device accumulates video captured by the video input device and flight information processed by the signal processing device, outputs the accumulated past video to the video display device and the transmission device, and accumulates them. An information management unit that outputs past flight information to the transmission device, and the coordinate information and time information input from the past video displayed on the video display device are transmitted by the transmission device. The target position specifying device according to any one of claims 1 to 4, wherein the target position specifying device is characterized.   8. The flight information according to any one of claims 1 to 7, wherein the flight information is information on a position and orientation of the aerial moving body and a camera orientation, tilt, zoom, and time of the video input device. The target object specifying device described in 1.   Take a video of the ground with a TV camera mounted on an aerial moving body, send the captured video to the ground, and the position and orientation of the aerial moving body when shooting the captured video, the orientation, tilt, and zoom of the TV camera , Flight information having time, coordinate information of the target specified in the captured video, and time information at the specified time point are transmitted to the ground, and the past video is received using the captured video and the time information received on the ground as keys. And a target position specifying method for generating a three-dimensional model using the flight information and specifying the three-dimensional position of the received coordinate information of the target.

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