JP5052254B2 - Three-dimensional measurement system and three-dimensional measurement method - Google Patents

Description

  The present invention relates to a three-dimensional measurement system and a three-dimensional measurement method capable of measuring an object with high accuracy over a wider range.

Conventionally, various measurement techniques and determination techniques have been employed in athletics and the like. For example, in jumping competitions such as long jump and triple jump, a technique for measuring the jump distance of a player from an image of the ground on which the player has landed (more specifically, a sandbox used for the competition) is known.
Specifically, a tripod, a pole, or the like is set up in the vicinity of the sandbox (for example, in the longitudinal direction of the sandbox), and the camera is fixed to the sandbox diagonally below. From this camera, an image of the sandbox where the athlete landed is taken. Prior to the competition, a reference object whose distance from the railroad crossing board is actually measured is photographed from this camera, and the relationship between the position in the image (such as each pixel position) and the actual distance is obtained. Thereby, the jump distance of a player can be measured by calculation from the trace (footprint etc.) in the photographed image.

In such a technical field, further advanced techniques are also known. As an example, a technique of a jumping distance measuring device that automatically measures a jumping distance by photographing sandboxes before and after jumping and extracting a trace portion by performing image processing on the images before and after the jumping is disclosed (for example, patents). Reference 1).
JP-A-9-206418 (Page 2-4, Fig. 1)

In the conventional technique described above, a part of the sandbox (an area where landing is expected) is photographed by one fixed camera. For example, in the above-described Patent Document 1, an area of about 1.9 m square is set as an imaging area. That is, the jump distance can be measured only when the player has landed in this shooting area (leaving a trace).
In an actual competition, this shooting area is determined with reference to past records (measurement results, etc.). Even so, when there is a large difference in ability between players, jumps that do not reach the shooting area or jumps beyond the shooting area may occur, and there are situations in which some players cannot perform measurement using the device.

In addition, different events such as long jump and triple jump may be performed on the same day (for example, at different times) in the same place (using the same sandbox). In this case, since the area where the landing is expected (that is, the shooting area) varies greatly depending on the event, preparation work such as movement (rearrangement) of the camera, etc. and shooting of the reference object must be performed for each event. It was extremely complicated.
Similarly, even if it is the same event, the areas where landing is expected are greatly different, such as men's and women's competitions, seven-class, ten-class competitions and jumping competitions, adult competitions and student competitions, etc. It was extremely cumbersome because it was necessary to carry out preparatory work for each competition (in accordance with the men's and women's competitions, the ability of the competitors to participate).

It is also conceivable to widen the shooting area by widening the angle of view of the camera itself or shooting from a higher distance.
However, if the shooting area is widened, the measurement accuracy cannot be maintained unless the image size (resolution) is increased (finely).
In addition, when the angle of view is widened, there is a problem in that the distortion generated in the image (particularly the peripheral portion) increases and the measurement accuracy decreases. In addition, when photographing from a higher distance, there is a problem that the measurement accuracy is lowered because the error due to the height difference becomes large.
For this reason, there has been a demand for a technique capable of measuring an object in a certain wide range without reducing measurement accuracy.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a three-dimensional measurement system and a three-dimensional measurement method capable of measuring an object with high accuracy over a wider range. .

In order to achieve the above object, a three-dimensional measurement system according to the first aspect of the present invention provides:
A three-dimensional measurement system that measures the jump distance in a jumping competition from a measurement object that indicates the landing point of the athlete,
A whole area photographing means for photographing the entire measurement range in which a plurality of markers are arranged;
A set of area photographing means capable of photographing any area out of the areas divided in advance so that a predetermined number of the markers are included in the entire area;
Each marker whose absolute position is actually measured in advance, and coordinate information storage means for storing coordinate information of the crossing board,
A rotation control means for performing rotation control so that the set of area imaging means can shoot an area to which a measurement target in the image captured by the whole area imaging means belongs;
Measuring means for measuring a three-dimensional position based on the coordinate information of the marker included in the image for each measurement object in each image taken by the set of area photographing means controlled by rotation; Provided,
It said measuring means, finally, to measure the jumping distance from the front Symbol springboard to the measurement object,
It is characterized by that.

According to this invention, in the three-dimensional measurement system that measures the jump distance in a jumping competition from a measurement target (for example, a footprint such as a footprint) indicating the landing point of the athlete, the whole-area photographing means includes a plurality of markers (for example, Take a picture of the entire measurement range where the external orientation is located. One set of area photographing means can photograph any one of the areas that are divided in advance so that a predetermined number (for example, three or more) of markers are included in the entire area. The coordinate information storage means stores each marker whose absolute position is actually measured in advance and the coordinate information of the crossing board. The rotation control means performs rotation control so that the area to which the measurement target belongs in the image captured by the whole area imaging means can be imaged by one set of area imaging means. Then, the measuring means measures the three-dimensional position of the measurement target in the image captured by the set of area imaging means controlled in rotation based on the coordinate information of the marker included in the image, and finally , to measure the jumping distance from Stepping Setsuban to the measurement target.
As a result, the object can be measured with high accuracy over a wider range.

Each of the markers has a surface divided by two straight lines passing through the center and is alternately color-coded in two colors. In order to make it easy to recognize the center, the same color in the color-coded one is captured in the set of areas. They may be arranged in the direction of the means.

The three-dimensional measurement system includes an area information storage unit that stores information on each area that is divided in advance so that a predetermined number of the markers are included in the entire area;
A specifying unit for specifying an area to which the measurement target belongs based on information on each area stored in the area information storage unit when a location of the measurement target in the image captured by the whole area shooting unit is specified; In addition,
The rotation control means may rotate the set of area photographing means for photographing the specified area based on information stored in the area information storage means.

The coordinate information storage means further stores coordinate information about auxiliary markers that are arranged only before the competition and are removed during the competition,
The set of area shooting means is for shooting any one of the areas previously divided so that the marker and the auxiliary marker are included in a predetermined number,
The measurement means includes the coordinate information of the marker included in each image and the auxiliary marker not included in the image for the measurement target in each image captured by the set of area imaging means. Based on the above, a three-dimensional position may be measured.

In order to achieve the above object, a three-dimensional measurement method according to the second aspect of the present invention includes:
A fixedly arranged photographing device, a set of photographing devices arranged rotatably, a rotation control device for controlling the rotation of the one set of photographing devices, a coordinate information storage means and an area information storage In a system including a processing control device for controlling each device with means, a three-dimensional measurement method for measuring a jump distance in a jumping competition from a measurement target indicating a landing point of a player,
The coordinate information storage means stores a plurality of markers arranged in the entire measurement range and coordinate information in which absolute positions are measured in advance for the crossing board,
The area information storage means stores area information of each area that has been divided in advance so that a predetermined number of the markers are included in the entire area,
A whole area photographing step for photographing the whole measurement range where the plurality of markers are arranged, which is performed by the photographing apparatus;
The one set of photographing devices can photograph the area to which the measurement object in the image photographed in the whole-field photographing step performed by the rotation control device controlled by the processing control device using the area information. A rotation control step for controlling the rotation to
An area shooting step for shooting each of the areas to which the measurement object belongs, among the pre-divided areas, which is performed by the rotated set of imaging devices;
A measurement step of measuring a three-dimensional position based on the coordinate information of the marker included in each image, with respect to a measurement target in each image captured by the set of imaging devices, performed by the processing control device; , And
The measurement step is, ultimately, to measure the jumping distance from the front Symbol springboard to the measurement object,
It is characterized by that.

According to the present invention, in a three-dimensional measurement method for measuring a jump distance in a jumping competition from a measurement target (for example, a footprint such as a footprint) indicating a landing point of a player, a plurality of markers arranged over the entire measurement range (For example, external orientation) and the coordinate information in which the absolute position is measured in advance for each railroad crossing board, and each area preliminarily divided so that a predetermined number (for example, three or more) of markers is included in the entire area. Area information is stored. The whole area photographing step performed by the photographing apparatus photographs the whole area of the measurement range in which a plurality of markers are arranged. The rotation control step performed by the rotation control device controlled by the processing control device using the area information is such that one set of imaging devices can shoot the area to which the measurement object belongs in the image captured in the whole area imaging step. The rotation is controlled. The area photographing step performed by the rotated pair of photographing devices photographs each of the areas to which the measurement object belongs, among the areas divided in advance. Then, the measurement step performed by the processing control device measures the three-dimensional position based on the coordinate information of the marker included in each image for the measurement target in each image captured by the set of imaging devices, and finally to, to measure the jumping distance from Stepping Setsuban to the measurement target. The marker is not limited to a dedicated external orientation, and may be any immovable reference object that can be easily specified by image recognition processing in a captured image.
As a result, the object can be measured with high accuracy over a wider range.

  According to the present invention, an object can be measured with high accuracy over a wider range.

  A measurement system according to an embodiment of the present invention will be described below with reference to the drawings. As an example, a measurement system that is applied to jumping competitions such as long jump and triple jump and that measures the jump distance of a player (competitor) will be described.

(Embodiment 1)
FIG. 1 is a schematic diagram showing an example of the configuration of a measurement system applied to the embodiment of the present invention.
As shown in the figure, the measurement system includes a plurality of external orientations 10, a whole area camera 20, area cameras 30a and 30b, pan heads 40a and 40b, and a processing control device 50.

The external orientation 10 is a marker disposed around the sandbox S where the jumping competition is performed and the railroad crossing board F, respectively, and the three-dimensional position (finally, the jump distance of the player) after the jump (such as a footprint) ) Is a standard for measuring. Therefore, after placement, it will be fixed appropriately so that it will not be moved until the entire game is over.
As an example, as shown in FIG. 2A, the external orientation 10 is formed in a disk shape with a predetermined size, and the surface is divided into four by two straight lines passing through the center of the circle. Two colors (for example, white and black) are alternately colored. And as shown in FIG.2 (b), it is arrange | positioned on the ground surface of the both sides along the longitudinal direction (player's jumping direction) of the sandbox S, for example, predetermined number at fixed intervals. Further, it is also appropriately disposed in the vicinity of the crossing plate F.

As will be described later, since the area cameras 30a, 30b, etc. are photographed obliquely from above, the external orientation 10 appears to be distorted (distracted). Therefore, in order to make the external orientation 10 as easy to see as possible (the center can be easily recognized), as shown in FIG. 2C, the same color (black as an example) is facing toward the area cameras 30a and 30b. Each is arranged to do.
Further, as will be described later, the absolute position (three-dimensional coordinates) of each external orientation 10 is accurately measured by a light wave distance meter or the like and stored in the processing control device 50.

Returning to FIG. 1, the whole area camera 20 is a photographing device for photographing the whole area of the range including the sandbox S, the crossing board F, and all the external orientations 10. The entire area camera 20 is connected to the processing control device 50 via a cable or the like, and supplies the captured entire area image (moving image or still image) to the processing control apparatus 50.
As an example, as shown in FIGS. 3A and 3B, the whole area camera 20 is disposed at a predetermined height (a handrail or a wall of a stand) at a predetermined distance from the side surface of the sandbox S. . Then, the shooting direction, the angle of view (lens, etc.), the focus, etc. are adjusted so that the entire area including all the external orientations 10 etc. can be shot and fixed in that state. Specifically, the entire area Zn indicated by the dotted line in FIG. 4A is fixed so as to be photographed.
Note that the whole area camera 20 is calibrated for correcting distortion, etc., but at that time, it may be fixed at the installation position, and on condition that it can be accurately returned to the adjusted state. Alternatively, it may be performed in another place where the work is easy. The calibration is performed using, for example, a calibration board AVS-calb-B900 sold by Applied Vision Systems Co., Ltd. and stereo camera check software AVS-ScamChk. The calibration board AVS-calb-B900 is provided with a polka dot pattern having a predetermined interval on a flat surface, and is placed in a position that covers the angle of view in advance with the whole area camera 20, Several images are taken while changing the angle each time, and correction values are obtained by stereo camera check software AVS-ScamChk. The same applies to the area cameras 30a and 30b.

Returning to FIG. 1, the area cameras 30 a and 30 b are a set of stereo cameras (base line length L) for shooting a part of the entire area captured by the entire area camera 20 described above. The area cameras 30 a and 30 b are connected to the processing control device 50 via cables or the like, and supply the captured area images (moving images and still images) to the processing control device 50.
These area cameras 30a and 30b are imaging devices of a type in which frame synchronization can be achieved, and each imaging can be performed at the same timing. That is, in consideration of the fact that it is used outdoors where the environment changes drastically, in order to reduce variations in shooting due to changes in brightness and the like, each area image is shot with frame synchronization.
Such area cameras 30a and 30b are also arranged at a predetermined height at a predetermined interval from the side surface of the sandbox S, for example, as shown in FIGS. 3 (a) and 3 (b). At the arrangement position, the area cameras 30a and 30b are installed on the pan heads 40a and 40b so that each of the area cameras 30a and 30b can be individually rotated at a predetermined interval (base line length L).
First (at the time of initial setting), the default area is set together with the pan heads 40a and 40b so that the default area can be photographed. Specifically, a lens with an optimal focal length (view angle) is mounted so that the area A0 (default area) indicated by the dotted line in FIG. 4B can be shot, and the shooting distance (focus) is also optimal. Adjusted to The default area is appropriately selected as an area where most players are expected to land in the competition.

When shooting this area A0, in order to generate a stereo image (parallax image), the range that the area camera 30a captures and the range that the area camera 30b captures are divided. Specifically, as shown in FIG. 4C, the area camera 30a is set so as to be able to shoot the area A01, while the area camera 30b is set so as to be able to shoot the area A0r.
As an example, the areas A01 and A0r are selected so that 60% or more overlap each other and three or more external orientations 10 are included in each area (three or more external orientations 10 are not aligned on a straight line). ing.
As described above, if three or more external orientations 10 are included (if the images can be taken from the area cameras 30a and 30b), the rotation directions of the X, Y, and Z axes in the image can be calculated, and the area cameras 30a and 30b can be calculated. The position can also be calculated accurately. More specifically, the camera position is calculated from the fact that the external orientation 10, the external orientation 10 in the image, and the camera origin (lens center) are arranged in a single line (collinear conditional expression). For such calculation and calculation of a three-dimensional position, which will be described later, for example, correlation method stereo three-dimensional measurement software AVS-Cor3D-SDK-v2 sold by Applied Vision Systems Co., Ltd. is used.

When the area A0 (areas A01, A0r) is set to be photographable in this way, information such as the current position (current rotation position) of the camera platform 40a, 40b is supplied to the processing control device 50, and the default area Is stored (preset). Note that the area cameras 30a and 30b are also appropriately calibrated in the same manner as the whole area camera 20.
Further, information on the interval (baseline length L) between the area cameras 30a and 30b is also supplied to the processing control device 50 and stored therein.
Thereafter, the pan heads 40a and 40b are appropriately rotated to appropriately select and preset other areas for the area cameras 30a and 30b to shoot. Details of other areas will be described later.

Returning to FIG. 1, the pan heads 40 a and 40 b are individually controlled by the processing control device 50 and rotate the mounted area cameras 30 a and 30 b in the horizontal direction or the vertical direction (vertical direction).
The pan heads 40a and 40b are appropriately driven so that the area cameras 30a and 30b can also photograph areas other than the area A0 (default area) described above.
Specifically, as shown in FIG. 5, the pan heads 40 a and 40 b are configured based on the control from the processing control device 50 so that the area cameras 30 a and 30 b can photograph the areas A1 to A4 in addition to the area A0. Rotate horizontally.
Areas A1 to A4 are appropriately selected and preset after setting area A0.

These areas A0 to A4 are selected so that each area partially overlaps the adjacent area. More specifically, areas A1 to A4 are selected so that adjacent areas share at least one external orientation 10 (usually two adjacent external orientations 10) (area A0 is selected first). Already). By sharing the external orientation 10 in this way, it is possible to continuously cover the areas A1, A2, A0, A3, and A4 (that is, the above-described entire area Zn) without any breaks.
As for the areas A1 to A4, the areas that the area cameras 30a and 30b shoot are divided like the areas A01 and A0r shown in FIG. 4C described above, and similarly, 60% or more overlap. Each of them is selected so that three or more external orientations 10 are included in each of them (three or more that do not overlap on a straight line).

Returning to FIG. 1, the process control device 50 controls the entire measurement system. Specifically, when a trace to be measured (approximate position of the trace left in the sandbox S) is specified from the entire area image captured by the entire area camera 20, the corresponding area (area to which the trace belongs) is specified. The pan heads 40a and 40b are controlled to rotate so that the area cameras 30a and 30b can capture the area.
When a trace measurement point (for example, a side close to the crossing board F of the trace to be measured) in the area image captured by the area cameras 30a and 30b is designated, the external orientation 10 (for example, area of each area image) is designated. Based on the absolute positions and the like of the three external orientations 10) that do not overlap with the cameras 30a and 30b, the three-dimensional position of the measurement point is calculated, and finally the jump distance from the crossing board F is calculated. . More specifically, for each area camera 30a, 30b, a collinear line is obtained from the position of the measurement point in the image and the position of the camera origin determined based on the external orientation 10 included in the image as in the above calculation process. A conditional expression is derived. Furthermore, a three-dimensional position of an actual measurement point is calculated by deriving a collinear condition formula from each of the photographed external orientations 10 and solving it together as a collinear equation. Various methods have been developed for these solutions, but the basic ones are: Bulletin of Okayama Vocational Ability Development Junior College No. 11, March 1997, “Basics of Image Measurement” (Keiichi Akimoto, Hattori Etc.).

  More specifically, as shown in FIG. 6, the processing control device 50 includes a photographing control unit 51, an image storage unit 52, a display unit 53, an operation unit 54, a control unit 55, and a rotation control unit. 56, an area information storage unit 57, and a coordinate information storage unit 58.

The shooting control unit 51 controls the shooting operations of the whole area camera 20 and the area cameras 30a and 30b, respectively, and causes a moving image and a still image to be shot.
Then, images (moving images and still images) taken by the whole area camera 20 and the area cameras 30 a and 30 b are supplied to the image storage unit 52.
At this time, for example, when time information (current time, etc.) is supplied from the control unit 55, the imaging control unit 51 imposes (combines) this time information with the image and supplies it to the image storage unit 52. . In addition, when identification information such as a player ID is supplied from the control unit 55, the identification information is added to the header of the image and supplied to the image storage unit 52.

The image storage unit 52 includes a memory having a predetermined capacity, a hard disk, and the like, and stores images (moving images and still images) supplied from the shooting control unit 51. That is, the entire area image captured by the entire area camera 20 and the area image captured by the area cameras 30a and 30b are stored.
The image stored in the image storage unit 52 is appropriately read out by the control unit 55. In addition, when supplying a whole area image and an area image to the control part 55 in real time, you may make it not memorize | store.

The display unit 53 displays an image read by the control unit 55 from the image storage unit 52, an image processed by the control unit 55, and the like.
For example, the display unit 53 displays a whole area image as shown in FIG. 7A or an area image as shown in FIG. 7B.

The whole area image of FIG. 7A includes a sandbox S, a crossing board F, and all external orientations 10. In addition, the sandbox S includes the traces K (footprints, etc.) of the landing player.
On the other hand, FIG. 7B includes an area image (left eye image) captured by the area camera 30a and an area image (right eye image) captured by the area camera 30b.
Each area image includes a part of the sandbox S and a predetermined number of external orientations 10. Further, the sandbox S includes a trace K of the landing player.

  Returning to FIG. 6, the operation unit 54 includes a keyboard, a mouse, and the like, and accepts various operations by a judge (such as a measurement staff). In addition to the keyboard and mouse, it also includes a grip switch for entering that the player has made a jump (trial), leaving a mark in the sandbox S regardless of the valid / invalid trial. Then, a predetermined measurement instruction signal is supplied to the control unit 55.

The control unit 55 includes a CPU and the like, and controls the entire processing control device 50.
For example, the control unit 55 reads the entire image from the image storage unit 52 and displays it on the display unit 53 after the player jumps. That is, the entire area image as shown in FIG. 7A is displayed on the display unit 53. At that time, the control unit 55 automatically recognizes each external orientation 10 in such a whole area image by image processing or the like. If the entire area cannot be automatically recognized because it is too wide, the referee or the like may manually input the position of each external orientation 10 in the entire area image by clicking the mouse.
Then, when the trace K (approximate position) is designated by the referee from such a whole area image with a mouse or the like, the control unit 55 stores the area information (each area A0 to A4) stored in the area information storage unit 57. The corresponding area (the area to which the trace belongs) is specified. That is, it is specified which area shown in FIG. 5 is the area (designated area) designated by designating the designated trace.

When specifying the designated area, the control unit 55 issues a command to the rotation control unit 56 to rotate the pan heads 40a and 40b. That is, the pan heads 40a and 40b are controlled so that the area cameras 30a and 30b can photograph the designated area. When the designated area is the default area (area A0), no command is issued to the rotation control unit 56.
Then, the area images captured by the area cameras 30 a and 30 b are read from the image storage unit 52 and displayed on the display unit 53. That is, the area image (two images) as shown in FIG.

More specifically, the area images enlarged as appropriate are displayed so that the referee can easily see them. Then, when a measurement point (for example, the side close to the crossing board F of the trace to be measured) is specified in one area image, the same position (specifically, the height direction coordinate is set in the other area image). The position of 0) is obtained, and the cursor or the like is moved to that position so that the referee can confirm the measurement point even in the other area image.
In this way, when the measurement point of the area image is designated (determined), the control unit 55 calculates the three-dimensional information of the measurement point. That is, accurate measurement is performed regardless of the height difference of the sandbox S (the trace K or the like) by stereo camera type three-dimensional measurement using both area images.
Specifically, the control unit 55 identifies three external orientations 10 (three external orientations 10 that do not overlap on a straight line with the area cameras 30a and 30b) in each area image, and sets the absolute position (three-dimensional coordinates) of each. Information is read from the coordinate information storage unit 58. Then, the three-dimensional position of the measurement point is calculated by three-dimensional measurement based on the read information or the like.
Furthermore, the control unit 55 reads the absolute position of the crossing plate F from the coordinate information storage unit 58 and measures the jump distance from the crossing plate F to the measurement point. More specifically, first, a straight line (parallel line) passing through the measurement point and parallel to the level crossing plate F is obtained, and then the distance from the perpendicular line extending from the level crossing plate F to the parallel line is defined as the jump distance. measure. At this time, for example, the jump distance in the unit of mm and the unit of cm obtained by discarding the unit of mm is obtained.

Returning to FIG. 6, the rotation control unit 56 controls the rotation operation of the pan heads 40a and 40b.
For example, when a rotation command designating an area is issued from the control unit 55, the rotation control unit 56 reads the angle information and the like of the area to be rotated from the area information storage unit 57, and sets the pan heads 40a and 40b. Rotate individually.

The area information storage unit 57 stores area information regarding each preset area.
For example, the area information storage unit 57 stores the information (ID and the like) of the external orientation 10 and the angle information and the like of the pan heads 40a and 40b for each of the areas A0 to A4 shown in FIG.
In addition, when the space | interval (baseline length L) of the area cameras 30a and 30b changes according to rotation of the pan heads 40a and 40b, the value of the baseline length L for every area A0-A4 is also memorize | stored.

The coordinate information storage unit 58 stores information on identifiers (ID, etc.) and absolute positions (three-dimensional coordinates) for each external orientation 10. This absolute position is information accurately measured by a light wave distance meter or the like when the external orientation 10 is placed on the sandbox S side, and the three-dimensional position of the measurement point (finally, the jump distance of the player) ) Is a standard for measuring.
Similarly, the coordinate information storage unit 58 also stores information on the absolute position of the crossing board F and the like accurately measured by a light wave distance meter or the like.

  Hereinafter, the operation of the measurement system having the above-described configuration will be described with reference to FIG. FIG. 8 is a flowchart for explaining the measurement process executed by the process control device 50. As an initial state, the area cameras 30a and 30b can capture a default area (area A0 in FIG. 5). That is, it is assumed that the area cameras 30a and 30b are directed to the area A0 by the pan heads 40a and 40b.

  First, the processing control device 50 stands by until an instruction to start measurement is given (step S11). Specifically, when the player finishes the trial (leap) (when a trace is left in the sandbox S), the operation unit 54 (grip switch) is operated by the referee, and the start of measurement is instructed.

  When the start of measurement is instructed, the processing control device 50 instructs the whole area camera 20 to perform photographing (step S12). That is, the photographing control unit 51 controls the whole area camera 20 to start photographing, and supplies the photographed whole area image to the image storage unit 52.

The processing control device 50 displays the entire area image and prompts the referee to specify the area (step S13).
That is, the control unit 55 reads the entire area image from the image storage unit 52 and displays the entire area image as shown in FIG. And it waits for the trace K (approximate position) to be designated from a whole area image by mouse operation etc. of a judge.

  The process control device 50 receives the designation of the trace and identifies the designated area (step S14). That is, the control unit 55 recognizes each external orientation 10 in the whole area image, searches the area information storage unit 57 based on the information of the external orientation 10 close to the designated trace, and the like, and specifies the corresponding area (designated). Area).

The process control device 50 determines whether or not the specified designated area is a default area (step S15). That is, the control unit 55 determines whether or not the area cameras 30a and 30b can photograph the designated area as it is.
If the processing control device 50 determines that the designated area is the default area, the processing control device 50 advances the processing to step S17 described later.

  On the other hand, when determining that the designated area is not the default area, the processing control device 50 issues a command to the rotation control unit 56 to rotate the camera platform 40a, 40b toward the designated area (step S16). That is, the rotation control unit 56 reads the angle information and the like of the designated area as the rotation destination from the area information storage unit 57, rotates the camera platform 40a and 40b to the designated area, and the area cameras 30a and 30b Is ready to take a picture.

The processing control device 50 instructs the area cameras 30a and 30b to take a picture (step S17). That is, the shooting control unit 51 controls the area cameras 30 a and 30 b to start shooting, and supplies the shot area image to the image storage unit 52.
When the pan heads 40a and 40b are rotated, photographing is started after waiting for the area cameras 30a and 30b to be stabilized (shakes are settled) (after a predetermined stabilization time has elapsed). .

The process control device 50 displays the area image and prompts the referee to specify the measurement point (step S18).
That is, the control unit 55 reads an area image from the image storage unit 52 and displays the area image as shown in FIG. Then, when a measurement point (such as the side near the crossing board F of the trace K to be measured) is designated in one area image by a mouse operation of the referee, the same position in the other area image is obtained, The cursor or the like is moved to a location so that the referee can check the measurement point even in the other area image.

The processing control device 50 receives the designation (determination) of the measurement point and measures the jump distance (step S19).
In other words, the control unit 55 identifies three external orientations 10 (three external orientations 10 that do not overlap with the straight lines with the area cameras 30a and 30b) in each area image, and information on their absolute positions (three-dimensional coordinates). Is read from the coordinate information storage unit 58. Then, the three-dimensional position of the measurement point is calculated by three-dimensional measurement based on the read information or the like.
Further, the control unit 55 reads the absolute position of the level crossing plate F from the coordinate information storage unit 58 and measures the jump distance (distance perpendicular to the level crossing plate F) from the level crossing plate F to the measurement point.

  By such measurement processing, even when the player has landed outside the default area (area A0), the pan heads 40a and 40b are appropriately rotated, and the area including the landing point (trace) is detected by the area cameras 30a and 30b. You can shoot. In addition, even if the accuracy of the pan heads 40a and 40b is not so high, the rotation directions of the X, Y, and Z axes of the image are calculated by using the information of the external orientation 10 whose absolute position is accurately measured in advance. The positions of the area cameras 30a and 30b can also be accurately calculated.

  In addition, by displaying two area images taken by the area cameras 30a and 30b, it is possible to specify a measurement point using the area image that is easier for the referee to view. Further, when a measurement point is designated in one area image, the same position in the other area image is obtained and displayed, so that the referee can confirm the measurement point also in the other area image. Note that the referee compares the measurement points in both area images, and if the measurement points are not valid, designates the measurement points again.

In addition, since the area cameras 30a and 30b shoot with frame synchronization, it is possible to shoot area images under the same conditions regardless of a sudden change in the shooting environment, and the stereo correlation accuracy is improved.
Further, by performing three-dimensional measurement using the area images of the area cameras 30a and 30b (stereo cameras), it is possible to suppress errors due to height differences.

  As a result, the object can be measured with high accuracy over a wider range.

In the measurement processing described above, the case where the player instructs the whole area camera 20 and the area cameras 30a and 30b to take a picture after finishing the jump has been described, but images (videos) from before the jump of the player to after the jump are shot. You may do it.
For example, the grip switch is pushed at the timing when the player starts a run for jumping or takes off, and in response to this, the processing control device 50 (shooting control unit 51) includes the whole area camera 20 and the area camera 30a. , 30b is instructed to start moving image shooting. And the image memory | storage part 52 memorize | stores sequentially the image (moving image) which the whole area camera 20 and area camera 30a, 30b image | photographed.
Eventually, when the player finishes jumping (when a trace is left in the sandbox S), the grip switch is pressed again, and in response to this, the shooting control unit 51 sends a video to the whole area camera 20 and the area cameras 30a and 30b. Instruct the end of shooting. (In actuality, for example, 20 seconds (specified time) is taken when the grip switch is pressed.)

Then, the control unit 55 reads the entire area image (moving image) from the image storage unit 52 and reproduces (displays) the moving image on the display unit 53. At that time, pause, slow playback, reverse playback, etc. are possible, so that the referee can easily find the image at the moment of landing or the image at the moment when the trace becomes clear.
Instead of reproducing the moving image, time-series thumbnail images may be displayed side by side so that the referee can easily find the target image from the thumbnail images.
When the target whole area image is found in this way, the referee designates a trace with the mouse or the like from the whole area image as described above. Then, similarly to the above, the control unit 55 specifies the designated area and determines whether or not the designated area is a default area. Here, when the designated area is not the default area, the pan heads 40a and 40b are rotated in the same manner as described above, and the area cameras 30a and 30b are caused to photograph the area image of the designated area.

On the other hand, when the designated area is the default area, the control unit 55 reads the area image (moving image) from the image storage unit 52 and reproduces (displays) the moving image on the display unit 53. Even at that time, pause, slow playback, reverse playback, etc. are possible, so that the referee can easily find the image at the moment of landing or the image at the moment when the trace becomes clear.
Instead of reproducing the moving image, time-series thumbnail images may be displayed side by side so that the referee can easily find the target image from the thumbnail images.
As a result, the landing point (trace) can be more clearly determined. For example, even when there are a plurality of traces that are difficult to determine, it is possible to determine which is an effective trace by checking the image immediately before the trace.
Further, even when another referee monitoring the sandbox S stands a marker on an actual trace, it is possible to specify a more accurate measurement point from the image at the moment when the marker is raised. .
When the measurement point is designated (determined), the control unit 55 calculates the three-dimensional position of the measurement point by the three-dimensional measurement as described above, and finally measures the jump distance.
Also in this case, the object can be measured with high accuracy over a wider range.

(Other embodiments)
In the above embodiment, as shown in FIG. 5, the case where the area is divided into a total of five areas has been described as an example. However, the number of divided areas depends on the environment of the stadium (the performance and installation location of the area cameras 30a and 30b, The size can be appropriately changed according to the size of the sandbox S).
Moreover, although the case where the area is divided only in the horizontal direction has been described as an example, the method of dividing the area is not limited to the horizontal direction, and may be divided in the vertical direction as appropriate.
For example, the area needs to be divided in the vertical direction when the shootable range becomes narrow due to the performance of the area cameras 30a and 30b.

In this case, since the number of external orientations 10 in the area is insufficient when performing presetting, for example, an auxiliary external orientation 10 ′ is disposed as shown in FIG. 9A. Then, as shown in FIG. 9 (b), each area Au0 satisfies the number of external orientations 10 (10 ′) in the area and the number of external orientations 10 (10 ′) shared by adjacent areas. ~ Au4, Ad0-Ad4 are selected. And the information of each area is preset like the above (it memorize | stores in the area information storage part 57).
As for the auxiliary external orientation 10 ′, the absolute position (three-dimensional coordinates) is accurately measured and stored in the coordinate information storage unit 58 using a light wave distance meter or the like as described above.
In addition, since the pan heads 40a and 40b are appropriately rotated not only in the horizontal direction but also in the vertical direction (vertical direction), the angle information in the vertical direction is also stored in the area information storage unit 57.

When the presetting of each area is completed in this way, the auxiliary external orientation 10 'is removed. Then, when the actual competition is started and, for example, as shown in FIG. 9 (c), the area Au2 with a trace is photographed, the rotation control unit 56 moves the pan heads 40a and 40b only in the horizontal direction. Instead, it is also rotated in the vertical direction as appropriate so that the area cameras 30a and 30b can photograph the area Au2.
In the area image in which the area Au2 is photographed, the number of external orientations 10 included in the image is somewhat small, but the absolute position of the external orientation 10 ′ stored in the coordinate information storage unit 58 is also referred to as appropriate. (The position (coordinates) of the camera is calculated and referenced at the time of presetting), and the three-dimensional position of the measurement point is measured, so that high accuracy can be maintained.
Also in this case, the object can be measured with high accuracy over a wider range.

In the above embodiment, as shown in FIG. 7B, the case where the area images taken by the area cameras 30a and 30b are displayed side by side (not including enlargement / reduction) is described.
However, an image obtained by processing traces or the like more easily can be displayed so that the work load on the referee can be reduced.
For example, a three-dimensional image is generated by image processing from area images photographed by the area cameras 30a and 30b, respectively, and processing such as viewpoint conversion is appropriately performed to generate an image (such as a bird's eye view) of the sandbox S viewed from directly above. However, it may be displayed as auxiliary information.
In this case, the bird's-eye view makes it easier to see the traces and the designation of measurement points.

Further, in the above embodiment, when a measurement point is specified in one area image, automatic determination based on stereo correlation is performed, and the same position in the other area image is obtained and displayed to check a judge. Explained the case. However, after automatic determination by stereo correlation, measurement may be performed without taking confirmation.
Furthermore, by automatically recognizing traces from one area image or both area images, it is not necessary to specify the measurement point itself by the referee, and everything from the measurement point specification to the jump distance measurement is fully automated. You may be able to do it.

Further, in the above-described embodiment, the description has been made from the start of measurement until the jump distance is measured. However, actually, the measured jump distance is stored (saved) in association with the player information and the like. It will be. At that time, images (moving images and still images) may be stored in association with each other.
For example, a competition date and time, a competition name, a player name (player ID), a measurement result (such as a jump distance), and an image are stored in association with each other. Then, for example, by making it possible to search the measurement result and its image using the competition date and time, the player name, and the like as keys, it can be used as recording data with improved reliability.

In the above embodiment, the measurement system has been described by taking a jumping competition as an example. However, the application target of the measurement system is not limited to measurement of measurement points in such a competition, and is appropriately applied to other fields. Is possible.
For example, when a large steel material is assembled at a large construction site or the like, it is necessary to measure the hole position of the large steel material. Even in such a case, the measurement system of the present invention can be applied. Hereinafter, a brief description will be given with reference to FIG.

FIG. 10 is a schematic diagram illustrating an example of a configuration of a measurement system according to another embodiment of the present invention. In addition, the structure of the whole area camera 20-the process control apparatus 50 is the same as that of the measurement system shown in FIG. 1 mentioned above.
A difference from the measurement system shown in FIG. 1 is that the external orientation 10 is arranged on the large steel material KZ. That is, the external orientation 10 is affixed on the surface (an upper surface, a side surface, etc.) of the large steel material KZ at regular intervals, for example. Note that the absolute position (three-dimensional coordinates) of each external orientation 10 is accurately measured by a light wave distance meter or the like and stored in the processing control device 50 as described above.
The large steel material KZ is provided with a hole H for passing a bolt or the like, and the position of the hole H is measured.

Also in this measurement system, the whole area camera 20 photographs the whole area including the entire external orientation 10. That is, the entire area Zn shown in FIG.
In addition, the area cameras 30a and 30b capture an area within a predetermined range among the entire area captured by the entire area camera 20. For example, the area camera 30a captures the area A01 shown in FIG. 10B, while the area camera 30b captures the area A0r.
Similar to the above, the entire area Zn is divided into a plurality of areas, and each area is preset. And the processing control apparatus 50 controls the pan heads 40a and 40b separately, and the area cameras 30a and 30b can photograph each area.

In this measurement system, when a hole H to be measured (any hole H) is specified from the entire area image captured by the entire area camera 20, a corresponding area (area to which the hole H belongs) is specified, and the area is determined. The pan heads 40a and 40b are controlled to rotate so that the area cameras 30a and 30b can shoot.
Then, when a hole H (for example, the center of the hole H) in the area image captured by the area cameras 30a and 30b is designated, the area is overlapped on a straight line with the external orientation 10 (for example, the area cameras 30a and 30b). The three-dimensional position of the hole H is calculated based on the absolute positions and the like of the three external orientations 10) that should not be.
Also in this case, the object can be measured with high accuracy over a wider range.

  As described above, according to the present invention, an object can be measured with high accuracy over a wider range.

It is a mimetic diagram showing an example of composition of a measuring system concerning an embodiment of the present invention. (A)-(c) is a schematic diagram for demonstrating external orientation. (A) is the figure which looked at the stadium from the top, (b) is the figure (cross-sectional view) which looked at the stadium from the side. (A) is a schematic diagram for demonstrating the range which a whole area camera image | photographs, (b), (c) is a schematic diagram for demonstrating the range which an area camera image | photographs. It is a schematic diagram for demonstrating the relationship of each area. It is a block diagram for demonstrating the specific structure of a process control apparatus. It is a schematic diagram for demonstrating an example of the image displayed on a display part, (a) is a whole area image, (b) is an area image. It is a flowchart for demonstrating the measurement process which concerns on embodiment of this invention. (A)-(c) is a schematic diagram for demonstrating each area divided also in the horizontal direction. (A) is a schematic diagram which shows an example of a structure of the measurement system which concerns on other embodiment of this invention, (b) is a schematic diagram for demonstrating each imaging | photography range of a whole area camera and an area camera.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 External orientation 20 Whole area camera 30a, 30b Area camera 40a, 40b Pan head 50 Processing control apparatus

Claims (5)

A three-dimensional measurement system that measures the jump distance in a jumping competition from a measurement object that indicates the landing point of the athlete,
A whole area photographing means for photographing the entire measurement range in which a plurality of markers are arranged;
A set of area photographing means capable of photographing any area out of the areas divided in advance so that a predetermined number of the markers are included in the entire area;
Each marker whose absolute position is actually measured in advance, and coordinate information storage means for storing coordinate information of the crossing board,
A rotation control means for performing rotation control so that the set of area imaging means can shoot an area to which a measurement target in the image captured by the whole area imaging means belongs;
Measuring means for measuring a three-dimensional position based on the coordinate information of the marker included in each of the images to be measured in each of the images taken by the set of area photographing means controlled by rotation; Is provided,
It said measuring means, finally, to measure the jumping distance from the front Symbol springboard to the measurement object,
A three-dimensional measurement system characterized by this. Each of the markers has a surface divided by two straight lines passing through the center and is alternately color-coded in two colors. In order to make it easy to recognize the center, the same color in the color-coded one is captured in the set of areas. Arranged in the direction of the means,
The three-dimensional measurement system according to claim 1. Area information storage means for storing information of each area preliminarily divided so that a predetermined number of the markers are included in the entire area;
A specifying unit for specifying an area to which the measurement target belongs based on information on each area stored in the area information storage unit when a location of the measurement target in the image captured by the whole area shooting unit is specified; In addition,
The rotation control means rotates the set of area photographing means to photograph the specified area based on information stored in the area information storage means.
The three-dimensional measurement system according to claim 1 or 2, wherein The coordinate information storage means further stores coordinate information about auxiliary markers that are arranged only before the competition and are removed during the competition,
The set of area shooting means is for shooting any one of the areas previously divided so that the marker and the auxiliary marker are included in a predetermined number,
The measurement means includes the coordinate information of the marker included in each image and the auxiliary marker not included in the image for the measurement target in each image captured by the set of area imaging means. Measure the 3D position based on
The three-dimensional measurement system according to any one of claims 1 to 3, wherein A fixedly arranged photographing device, a set of photographing devices arranged rotatably, a rotation control device for controlling the rotation of the one set of photographing devices, a coordinate information storage means and an area information storage In a system including a processing control device for controlling each device with means, a three-dimensional measurement method for measuring a jump distance in a jumping competition from a measurement target indicating a landing point of a player,
The coordinate information storage means stores a plurality of markers arranged in the entire measurement range and coordinate information in which absolute positions are measured in advance for the crossing board,
The area information storage means stores area information of each area that has been divided in advance so that a predetermined number of the markers are included in the entire area,
A whole area photographing step for photographing the whole measurement range where the plurality of markers are arranged, which is performed by the photographing apparatus;
The one set of photographing devices can photograph the area to which the measurement object in the image photographed in the whole-field photographing step performed by the rotation control device controlled by the processing control device using the area information. A rotation control step for controlling the rotation to
An area shooting step for shooting each of the areas to which the measurement object belongs, among the pre-divided areas, which is performed by the rotated set of imaging devices;
A measurement step of measuring a three-dimensional position based on the coordinate information of the marker included in each image, with respect to a measurement target in each image captured by the set of imaging devices, performed by the processing control device; , And
The measurement step is, ultimately, to measure the jumping distance from the front Symbol springboard to the measurement object,
A three-dimensional measurement method characterized by this.

Images