JP6821105B2 - Water level measuring device and water level measuring method - Google Patents

Description

The present invention relates to a water level measuring device and a water level measuring method.

The water level of the river is measured by acquiring the image information of the water plate installed in the river and the water surface of the river from an imaging device such as a surveillance camera and executing a predetermined analysis process on the image information. There is a water level measuring device.

Patent Document 1 describes a water level elevation acquisition unit at another point that acquires the value of the first water level at the water level measurement point measured by the water level measurement device from a water level measurement device installed at another point different from the river monitoring point. And the image acquisition unit that acquires the monitoring image of the monitoring point in the river away from the water level measurement point and at least the water surface and the object protruding from the water surface, and the monitoring of the second water level at the monitoring point. A river monitoring device equipped with a water level elevation detection unit that identifies the detection area in the image using the estimated water level at the monitoring point based on the first water level obtained from the water level measurement point, makes the water plate into a river. A technique for measuring water elevation at a monitoring point that is not installed is disclosed.

JP-A-2018-040732

However, in the conventional technique, in order to measure the water level at a monitoring point where the water plate is not installed in the river, the value of the water level measured at another point different from the river monitoring point is acquired. In order to measure the water surface elevation at the other point, it was necessary to install a water plate at the other point.

The present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a water level measuring device capable of measuring water level elevation without installing a water plate in a river.

The water level measuring device according to the present invention includes first image information generated by the first imaging device for monitoring the state of the river at the first time point and second image information generated by the first imaging device at the second time point. The second image acquisition unit that acquires the third image information generated by the second imaging device so that at least a part of the object reflected in the first image information generated by the first imaging device is captured. The unit, the point group data acquisition unit that acquires the point group data generated by the second imaging device, the first image information acquired by the first image acquisition unit, the third image information acquired by the second image acquisition unit, and Based on the point group data acquired by the point group data acquisition unit, the correspondence information in which the second image information acquired by the first image acquisition unit is associated with the point group data acquired by the point group data acquisition unit is generated. It is provided with a correspondence information generation unit, a second image information acquired by the first image acquisition unit, and a water level measurement unit that measures the water level of the river at the second time point based on the correspondence information generated by the correspondence information generation unit. It is a data.

According to the present invention, the water level can be measured without installing a water plate in a river.

FIG. 1 is a block diagram showing an example of a configuration of a main part of a water level measuring device applied to the water level measuring system according to the first embodiment. 2A and 2B are diagrams showing an example of the hardware configuration of the main part of the water level measuring device according to the first embodiment. FIG. 3 is a block diagram showing an example of the configuration of a main part of the corresponding information generation unit in the water level measuring device according to the first embodiment. FIG. 4 is a block diagram showing an example of the configuration of a main part of the water level measuring unit in the water level measuring device according to the first embodiment. 5A and 5B are flowcharts illustrating an example of processing of the water level measuring device according to the first embodiment. FIG. 6 is a block diagram showing an example of the configuration of a main part of the water level measuring device applied to the water level measuring system according to the second embodiment. FIG. 7 is a block diagram showing an example of the configuration of a main part of the corresponding information generation unit in the water level measuring device according to the second embodiment. 8A and 8B are flowcharts illustrating an example of processing of the water level measuring device according to the second embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Embodiment 1.
The water level measuring device 100 applied to the water level measuring system 1 according to the first embodiment will be described with reference to FIGS. 1 to 5.
FIG. 1 is a block diagram showing an example of the configuration of a main part of the water level measuring device 100 applied to the water level measuring system 1 according to the first embodiment.
The water level measurement system 1 includes a communication network 10, a first image pickup device 11, a second image pickup device 12, an output device 13, and a water level measurement device 100.

The communication network 10 is a network for information communication represented by LAN (Local Area Network), the Internet, or the like. The communication network 10 may be a wired network or a wireless network such as a wireless LAN or LTE (Long Term Evolution, registered trademark).

The first imaging device 11 is an imaging device such as a surveillance camera installed for monitoring the state of a river. The first imaging device 11 photographs the optical system included in the first imaging device 11 toward the river to be monitored, and generates image information indicating the state of the river. The first image pickup apparatus 11 outputs the generated image information. Specifically, for example, the first imaging device 11 outputs the generated image information to the water level measuring device 100 via the communication network 10.
The first image pickup device 11 in the water level measurement system 1 according to the first embodiment has a fixed direction in which the optical system included in the first image pickup device 11 is directed and an angle of view in the optical system, for example. It is assumed that the camera is a fixed camera in which the shooting direction and the shooting magnification are fixed.

The second image pickup device 12 is an image pickup device having an image pickup function and a three-dimensional measurement function.
The second imaging device 12 photographs a subject by the user's operation by the imaging function, and generates image information indicating an image of the photographed subject. In addition, the second imaging device 12 generates point cloud data around the second imaging device 12 by being operated by the user by the three-dimensional measurement function.

The second image pickup device 12 can acquire position information indicating the position of the second image pickup device 12 and direction information indicating the orientation of the second image pickup device 12 when generating image information or point cloud data. The second imaging device 12 acquires the position information and the direction information, for example, by setting the position information and the direction information by the user. Further, for example, in the second imaging device 12, the second imaging device 12 receives a navigation signal from the navigation satellite, and the position information is calculated by calculating the position and orientation of the second imaging device 12 using the received navigation signal. And direction information may be acquired.
In addition, the second image pickup device 12 can acquire altitude information indicating the altitude of the second image pickup device 12 when generating image information or point cloud data. The second imaging device 12 acquires altitude information, for example, by setting altitude information by the user. Further, for example, the second imaging device 12 may acquire altitude information by using the acquired position information and the altitude information in which the position and the altitude are associated in advance.

The point cloud data is, for example, data having a plurality of information indicating an absolute position in three dimensions at a certain point.
The second imaging device 12 irradiates the periphery of the second imaging device 12 with a laser beam, and receives the reflected wave of the irradiated laser beam to receive the reflected wave of the irradiated laser beam, so that the second imaging device 12 has a reflection point around the second imaging device 12. Identify the relative position from. Further, the second imaging device 12 generates point group data based on information indicating the relative position of the specified reflection point from the second imaging device 12, position information, direction information, and altitude information. Since the method for generating the point cloud data is known, the description thereof is omitted.
The angle of view of the region indicated by the point cloud data generated by the second imaging device 12 is wider than the angle of view of the region captured when the second imaging device 12 generates image information.

The second imaging device 12 is, for example, a portable device that can be carried by the user in the vicinity of the installation position of the first imaging device 11.
The user carries the second imaging device 12 in the vicinity of the installation position of the first imaging device 11, and directs the second imaging device 12 toward the river to be photographed for monitoring by the first imaging device 11, and the second imaging is performed. The device 12 is made to generate the third image information which is the image information. Further, the user keeps the posture of the second imaging device 12 in the posture when the second imaging device 12 generates the third image information, and causes the second imaging device 12 to perform the surroundings of the second imaging device 12. Generate point group data.
The second image pickup apparatus 12 outputs the generated third image information and point cloud data. Specifically, for example, the second imaging device 12 outputs the generated third image information and point cloud data to the water level measuring device 100 via the communication network 10. The second imaging device 12 transfers the generated third image information and point group data to, for example, a portable storage medium such as an SD memory card or a storage medium such as a flash memory provided in the second imaging device 12. It may be output so as to be memorized.
For example, the user causes the second image pickup apparatus 12 to generate the third image information and the point group data, and then moves the second image pickup apparatus 12 from the position where the third image information and the point group data are generated.

The output device 13 is, for example, a display output device such as a display or an audio output device such as a speaker for informing the user of information indicating the water level of a river output from the water level measuring device 100. The output device 13 is not limited to a display output device, an audio output device, or the like, but may be a lighting device such as an LED or a lamp, or a vibration device or the like that generates vibration.

The water level measuring device 100 generated the first image information generated by the first image pickup device 11 at the first time point, the second image information generated by the first image pickup device 11 at the second time point, and the second image pickup device 12. The third image information and the point group data are acquired, and the water level of the river at the second time point is measured. The water level of the river in the first embodiment is, for example, the water level of the river.
The water level measuring device 100 includes a first image acquisition unit 110, a second image acquisition unit 120, a point cloud data acquisition unit 130, a corresponding information generation unit 140, a water level measurement unit 150, and an output control unit 190.

The first image acquisition unit 110 includes first image information generated by the first image pickup device 11 for monitoring the river condition at the first time point and second image information generated by the first image pickup device 11 at the second time point. And get.
More specifically, for example, the first image acquisition unit 110 acquires the first image information and the second image information via the communication network 10.

The second image acquisition unit 120 acquires the third image information generated by the second image pickup device 12 so that at least a part of the object reflected in the first image information generated by the first image pickup device 11 is captured. The object is, for example, a pier, a bridge girder, or a bridge board in a bridge over a river. Further, the object may be, for example, a structure installed on a riverbed, a riverbank, a bank, or the like, or a tree growing on a riverbed, a riverbank, a bank, or the like.
More specifically, for example, the second image acquisition unit 120 acquires the third image information via the communication network 10. The second image acquisition unit 120 may acquire the third image information by reading it from a storage medium (not shown) in which the third image information is stored.

The point cloud data acquisition unit 130 acquires the point cloud data generated by the second imaging device 12.
More specifically, for example, the point cloud data acquisition unit 130 acquires the point cloud data via the communication network 10. The point cloud data acquisition unit 130 may acquire the point cloud data by reading the point cloud data from a storage medium (not shown) in which the point cloud data is stored.

The correspondence information generation unit 140 is based on the first image information acquired by the first image acquisition unit 110, the third image information acquired by the second image acquisition unit 120, and the point group data acquired by the point group data acquisition unit 130. Then, the correspondence information in which the second image information acquired by the first image acquisition unit 110 and the point group data acquired by the point group data acquisition unit 130 are associated with each other is generated.
The details of the correspondence information generation unit 140 will be described later.

The water level measurement unit 150 measures the water level of the river at the second time point based on the second image information acquired by the first image acquisition unit 110 and the correspondence information generated by the correspondence information generation unit 140.
The details of the water level measuring unit 150 will be described later.

The output control unit 190 controls to output the information indicating the water level of the river measured by the water level measurement unit 150 to the output device 13.

The hardware configuration of the main part of the water level measuring device 100 according to the first embodiment will be described with reference to FIGS. 2A and 2B.
2A and 2B are diagrams showing an example of the hardware configuration of the main part of the water level measuring device 100 according to the first embodiment.

As shown in FIG. 2A, the water level measuring device 100 is composed of a computer, which has a processor 201 and a memory 202. The memory 202 is used to function as the first image acquisition unit 110, the second image acquisition unit 120, the point cloud data acquisition unit 130, the corresponding information generation unit 140, the water level measurement unit 150, and the output control unit 190. Program is remembered. When the processor 201 reads and executes the program stored in the memory 202, the first image acquisition unit 110, the second image acquisition unit 120, the point cloud data acquisition unit 130, the corresponding information generation unit 140, and the water level measurement unit 150 , And the output control unit 190 is realized.

Further, as shown in FIG. 2B, the water level measuring device 100 may be configured by the processing circuit 203. In this case, the functions of the first image acquisition unit 110, the second image acquisition unit 120, the point cloud data acquisition unit 130, the corresponding information generation unit 140, the water level measurement unit 150, and the output control unit 190 are realized by the processing circuit 203. Is also good.

Further, the water level measuring device 100 may be composed of a processor 201, a memory 202, and a processing circuit 203 (not shown). In this case, some of the functions of the first image acquisition unit 110, the second image acquisition unit 120, the point cloud data acquisition unit 130, the corresponding information generation unit 140, the water level measurement unit 150, and the output control unit 190 are performed. It may be realized by the processor 201 and the memory 202, and the remaining functions may be realized by the processing circuit 203.

The processor 201 uses, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor).

The memory 202 uses, for example, a semiconductor memory or a magnetic disk. More specifically, the memory 202 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Memory). State Drive) or HDD (Hard Disk Drive) or the like is used.

The processing circuit 203 includes, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), a System-System (System) System, a System LSI. Is used.

The corresponding information generation unit 140 in the water level measuring device 100 according to the first embodiment will be described with reference to FIG.
FIG. 3 is a block diagram showing an example of the configuration of a main part of the corresponding information generation unit 140 in the water level measuring device 100 according to the first embodiment.
As described above, the corresponding information generation unit 140 includes the first image information acquired by the first image acquisition unit 110, the third image information acquired by the second image acquisition unit 120, and the points acquired by the point group data acquisition unit 130. Based on the group data, the correspondence information in which the second image information acquired by the first image acquisition unit 110 and the point group data acquired by the point group data acquisition unit 130 are associated with each other is generated.
The correspondence information generation unit 140 includes, for example, a feature point extraction unit 141, a matching unit 142, a correspondence unit 143, and a superposition unit 144.

The feature point extraction unit 141 extracts the feature points of the first image information acquired by the first image acquisition unit 110 and the third image information acquired by the second image acquisition unit 120.
More specifically, for example, the feature point extraction unit 141 extracts feature points of the first image information and the third image information by using a known image analysis technique. Since the method of extracting feature points from image information is known, the description thereof is omitted.

The matching unit 142 is a third object that is commonly captured in the first image information and the third image information based on the feature points of the first image information and the feature points of the third image information extracted by the feature point extraction unit 141. The positions of common feature points in the 1st image information and the 3rd image information are specified.
More specifically, for example, the matching unit 142 uses a known image analysis technique to be common in the first image information and the third image information of the object that is commonly captured in the first image information and the third image information. Identify the position of the feature point. Since the method of specifying the position of the feature point of a common object in the image information by comparing the feature points is known, the description thereof is omitted.

The corresponding unit 143 and each pixel in the first image information are based on the positions in the first image information and the third image information of the object that is commonly captured in the first image information and the third image information specified by the matching unit 142. , Each pixel in the third image information is associated with.
More specifically, for example, the corresponding unit 143 associates each pixel in the first image information with each pixel in the third image information by using a known five-point algorithm technique. When using the 5-point algorithm technology, the corresponding unit 143 considers the reprojection error at the feature points extracted from the first image information and the third image information image, and performs bundle adjustment using, for example, the nonlinear least squares method. By doing so, the correspondence between each pixel in the first image information and each pixel in the third image information may be optimized. Since the method of associating each pixel of two image information shot at different positions using the five-point algorithm technique and the method of bundle adjustment are known, the description thereof is omitted.
Further, the corresponding unit 143 replaces each pixel in the third image information associated with each pixel in the first image information with the point group data acquired by the point group data acquisition unit 130 by using the 5-point algorithm technique. Each pixel in the first image information is associated with each point in the point group data.
More specifically, for example, the corresponding unit 143 replaces each pixel in the third image information associated with each pixel in the first image information with point group data by using a known pinhole camera model technique. As a result, each pixel in the first image information is associated with each point in the point group data. Since the pinhole camera model technology is well known, its description is omitted.

The superimposition unit 144 generates correspondence information in which each pixel in the second image information acquired by the first image acquisition unit 110 is associated with each point in the point cloud data.
More specifically, the first image pickup device 11 in the water level measurement system 1 according to the first embodiment has a direction in which the optical system included in the first image pickup device 11 is directed when taking a picture, and an angle of view in the optical system. Since it is a fixed camera, for example, a fixed camera, the area photographed by the first imaging device 11 at the first time point and the area photographed by the first imaging device 11 at the second time point are the same. Therefore, the direction of the subject indicated by each pixel in the first image information coincides with the direction of the subject indicated by each pixel in the second image information. That is, the superimposition unit 144 replaces each pixel in the first image information associated with each point in the point group data with each pixel in the second image information by using the pinhole camera model technology, so that the second image Correspondence information is generated in which each pixel in the information and each point in the point group data are associated with each other.

The water level measuring unit 150 in the water level measuring device 100 according to the first embodiment will be described with reference to FIG.
FIG. 4 is a block diagram showing an example of the configuration of a main part of the water level measuring unit 150 in the water level measuring device 100 according to the first embodiment.
As described above, the water level measurement unit 150 measures the water level of the river at the second time point based on the second image information acquired by the first image acquisition unit 110 and the correspondence information generated by the correspondence information generation unit 140. Is.
The water level measuring unit 150 includes, for example, a water level specifying unit 151 and a water level specifying unit 152.

The water surface specifying unit 151 specifies the area of the water surface of the river in the second image information.
More specifically, for example, the water surface identification unit 151 extracts feature points in the second image information using a known image analysis technique, and uses a known image identification technique based on the extracted feature points. , The area of the water surface of the river in the second image information is specified. Since the method of extracting the feature points from the image information and the method of specifying the water surface region in the image information based on the feature points are known, the description thereof is omitted.
The water level specifying unit 152 defines a boundary line between the area of the river water surface in the second image information specified by the water surface specifying unit 151 and the area in the second image information of the object behind the water surface reflected in the second image information. Identify. Further, the water level specifying unit 152 measures the water level of the river using the correspondence information generated by the correspondence information generation unit 140 based on the position of the boundary line in the specified second image information.

The operation of the water level measuring device 100 according to the first embodiment will be described with reference to FIG.
5A and 5B are flowcharts illustrating an example of processing of the water level measuring device 100 according to the first embodiment.
The water level measuring device 100 repeatedly executes the processing of the flowchart shown in FIG. 5B after executing the processing of the flowchart shown in FIG. 5A.

First, in step ST501, the second image acquisition unit 120 acquires the third image information generated by the second image pickup apparatus 12.
Next, in step ST502, the point cloud data acquisition unit 130 acquires the point cloud data generated by the second imaging device 12.
Next, in step ST503, the first image acquisition unit 110 acquires the first image information generated by the first image pickup apparatus 11.

Next, in step ST504, the feature point extraction unit 141 in the corresponding information generation unit 140 receives the first image information acquired by the first image acquisition unit 110 and the third image information acquired by the second image acquisition unit 120. Extract feature points.
Next, in step ST505, the matching unit 142 in the corresponding information generation unit 140 compares the feature points of the first image information extracted by the feature point extraction unit 141 with the feature points of the third image information, and first The positions of common feature points in the first image information and the third image information of the object that are commonly reflected in the image information and the third image information are specified.
Next, in step ST506, the corresponding unit 143 in the corresponding information generation unit 140 uses the first image information and the third image information of the object that are commonly captured in the first image information and the third image information specified by the matching unit 142. Based on the positions of the common feature points in the above, each pixel in the first image information is associated with each pixel in the third image information.
Next, in step ST507, the corresponding unit 143 in the corresponding information generation unit 140 sets each pixel in the third image information associated with each pixel in the first image information to each pixel in the first image information and a point group. Correspond to each point in the data.

Next, in step ST511, the first image acquisition unit 110 acquires the second image information generated by the first image pickup apparatus 11.
Next, in step ST512, the superimposing unit 144 in the corresponding information generation unit 140 associates each pixel in the second image information acquired by the first image acquisition unit 110 with each point in the point cloud data. To generate.
Next, in step ST513, the water surface specifying unit 151 in the water level measuring unit 150 specifies the area of the water surface of the river in the second image information.
Next, in step ST514, the water level specifying unit 152 in the water level measuring unit 150 has a region of the water surface of the river in the second image information specified by the water surface specifying unit 151 and a background from the water surface reflected in the second image information. The boundary line with the area in the second image information of the object is specified.
Next, in step ST515, the water level specifying unit 152 in the water level measuring unit 150 uses the corresponding information generated by the corresponding information generating unit 140 based on the position of the boundary line in the specified second image information to generate the water level of the river. To measure.
Next, in step ST516, the output control unit 190 controls to output the information indicating the water level of the river measured by the water level measurement unit 150 to the output device 13.

After executing the process of step ST516, the water level measuring device 100 ends the process of the flowchart shown in FIG. 5B, returns to the process of step ST511, and repeatedly executes the process of the flowchart.
In the processing of the flowchart, if the processing from step ST501 to step ST503 is executed before the processing of step ST504, the order in which the processing from step ST501 to step ST503 is executed can be freely configured. ..

As described above, in the water level measuring device 100, the first image information generated by the first image pickup device 11 for monitoring the river condition at the first time point and the first image information generated by the first image pickup device 11 at the second time point. The first image acquisition unit 110 that acquires the two image information, and the third image information generated by the second image pickup device 12 so that at least a part of the object reflected in the first image information generated by the first image pickup device 11 is captured. The second image acquisition unit 120 for acquiring the data, the point group data acquisition unit 130 for acquiring the point group data generated by the second imaging device 12, and the first image information and the second image acquired by the first image acquisition unit 110. Based on the third image information acquired by the acquisition unit 120 and the point group data acquired by the point group data acquisition unit 130, the second image information acquired by the first image acquisition unit 110 and the point group data acquisition unit 130 Based on the correspondence information generation unit 140 that generates correspondence information associated with the acquired point group data, the second image information acquired by the first image acquisition unit 110, and the correspondence information generated by the correspondence information generation unit 140. The water level measuring unit 150 for measuring the water level of the river at the second time point is provided.

With this configuration, the water level measuring device 100 can measure the water surface altitude without installing a water plate in the river.

Embodiment 2.
The water level measuring device 100a applied to the water level measuring system 1a according to the second embodiment will be described with reference to FIGS. 6 to 8.
In the first embodiment, the first image pickup device 11 in the water level measurement system 1 has a fixed direction in which the optical system included in the first image pickup device 11 is directed when taking a picture, and a fixed angle of view in the optical system, for example. Although the case of a fixed camera has been described, in the second embodiment, the first image pickup device 11a in the water level measurement system 1a is directed to the direction in which the optical system included in the first image pickup device 11a is directed when taking a picture, or the optical system. A case where the image angle can be changed, for example, a PTZ camera will be described.
FIG. 6 is a block diagram showing an example of the configuration of a main part of the water level measuring device 100a applied to the water level measuring system 1a according to the second embodiment.
In the configuration of the water level measurement system 1a, the same reference numerals are given to the same configurations as those of the water level measurement system 1, and duplicate description will be omitted. Further, in the configuration of the water level measuring device 100a, the same reference numerals are given to the same configurations as those of the water level measuring device 100, and duplicate description will be omitted. That is, the description of the configuration of FIG. 6 having the same reference numerals as those shown in FIG. 1 will be omitted.

The water level measurement system 1a includes, for example, a communication network 10, a first image pickup device 11a, a second image pickup device 12, an output device 13, and a water level measurement device 100a.

The first image pickup device 11a is an image pickup device such as a surveillance camera installed for monitoring the state of a river. The first imaging device 11a photographs the optical system included in the first imaging device 11a toward the river to be monitored, and generates image information indicating the state of the river. The first image pickup apparatus 11a outputs the generated image information. Specifically, for example, the first imaging device 11a outputs the generated image information to the water level measuring device 100a via the communication network 10.
As described above, the first imaging device 11a is, for example, a PTZ camera in which the direction in which the optical system included in the first imaging device 11a is directed or the angle of view in the optical system can be changed at the time of photographing.

The first imaging device 11a can change the direction of the optical system included in the first imaging device 11a in the vertical and horizontal directions in accordance with a request from an external device such as the water level measuring device 100a. Further, the first imaging device 11a can change the angle of view of the optical system included in the first imaging device 11a according to a request from an external device such as the water level measuring device 100a. Further, the first imaging device 11a can change the orientation and angle of view of the optical system included in the first imaging device 11a to the preset orientation and angle of view, for example, according to a schedule preset in the first imaging device 11a. It may be anything.
Further, the first imaging device 11a obtains imaging information which is information indicating imaging conditions such as the orientation or angle of view of the optical system included in the first imaging device 11a in accordance with a request from an external device such as the water level measuring device 100a. 1 It is possible to output to an external device such as the water level measuring device 100a that has requested the image pickup device 11a.
The first imaging device 11a acquires a request from an external device such as the water level measuring device 100a via, for example, the communication network 10.

The second imaging device 12 outputs the generated third image information and point cloud data to the water level measuring device 100a via the communication network 10 or the like.
The output device 13 is a display output device, a voice output device, or the like for informing the user of information indicating the water level of the river output from the water level measuring device 100a.

The water level measuring device 100a is generated by the first image information generated by the first image pickup device 11a at the first time point, the second image information generated by the first image pickup device 11a at the second time point, and the second image pickup device 12. The third image information and point group data, the first imaging information indicating the imaging conditions of the first imaging device 11a when the first imaging device 11a generates the first image information, and the second image by the first imaging device 11a. The second imaging information indicating the imaging conditions of the first imaging device 11a when the information is generated is acquired, and the water level of the river at the second time point is measured.

The water level measuring device 100a includes a first image acquisition unit 110a, a second image acquisition unit 120, a point cloud data acquisition unit 130, a corresponding information generation unit 140a, a water level measurement unit 150, an imaging information acquisition unit 160, and an output control unit 190. Be prepared.

The first image acquisition unit 110a includes the first image information generated by the first image pickup device 11a for monitoring the river condition at the first time point and the second image information generated by the first image pickup device 11a at the second time point. And get.
More specifically, for example, the first image acquisition unit 110a acquires the first image information and the second image information via the communication network 10.

The second image acquisition unit 120 acquires the third image information generated by the second image pickup device 12 so that at least a part of the object reflected in the first image information generated by the first image pickup device 11a is captured.
The point cloud data acquisition unit 130 acquires the point cloud data generated by the second imaging device 12.

The imaging information acquisition unit 160 generates first imaging information indicating the imaging conditions of the first imaging device 11a when the first imaging device 11a generates the first image information, and the first imaging device 11a generates the second image information. The second imaging information indicating the imaging conditions of the first imaging device 11a at the time of the acquisition is acquired.
More specifically, for example, in the image pickup information acquisition unit 160, when the first image acquisition unit 110a acquires the first image information generated by the first image pickup device 11a at the first time point, the first image pickup device 11a A request for outputting the first imaging information indicating the imaging conditions at the first time point is transmitted via the communication network 10, and the first imaging information is acquired from the first imaging device 11a. Further, when the first image acquisition unit 110a acquires the second image information generated by the first image pickup device 11a at the second time point, the image pickup information acquisition unit 160 captures the second image information generated at the second time point by the first image pickup device 11a. A request for outputting the second imaging information indicating the conditions is transmitted via the communication network 10, and the second imaging information is acquired from the first imaging device 11a.

The correspondence information generation unit 140a includes the first image information acquired by the first image acquisition unit 110a, the third image information acquired by the second image acquisition unit 120, the point group data acquired by the point group data acquisition unit 130, and the point group data. Based on the first image pickup information and the second image pickup information acquired by the image pickup information acquisition unit 160, the second image information acquired by the first image acquisition unit 110a and the point group data acquired by the point group data acquisition unit 130 are obtained. Generate the associated correspondence information.
The details of the correspondence information generation unit 140a and the correspondence information will be described later.

The water level measurement unit 150 measures the water level of the river at the second time point based on the second image information acquired by the first image acquisition unit 110a and the correspondence information generated by the correspondence information generation unit 140a.
As described with reference to FIG. 4 in the first embodiment, the water level measuring unit 150 includes, for example, a water level specifying unit 151 and a water level specifying unit 152.

The first image acquisition unit 110a, the second image acquisition unit 120, the point group data acquisition unit 130, the corresponding information generation unit 140a, the water level measurement unit 150, and the imaging information acquisition unit 160 in the water level measurement device 100a according to the second embodiment. , And each function of the output control unit 190 may be realized by the processor 201 and the memory 202 in the hardware configuration shown in FIGS. 2A and 2B in the first embodiment, or the processing circuit 203. It may be realized by.

The corresponding information generation unit 140a in the water level measuring device 100a according to the second embodiment will be described with reference to FIG. 7.
FIG. 7 is a block diagram showing an example of the configuration of the main part of the corresponding information generation unit 140a in the water level measuring device 100a according to the second embodiment.
As described above, the corresponding information generation unit 140a includes the first image information acquired by the first image acquisition unit 110a, the third image information acquired by the second image acquisition unit 120, and the point group acquired by the point group data acquisition unit 130. Based on the data and the first imaging information and the second imaging information acquired by the imaging information acquisition unit 160, the second image information acquired by the first image acquisition unit 110a and the points acquired by the point group data acquisition unit 130. It generates correspondence information associated with group data.
In the configuration of the correspondence information generation unit 140a, the same reference numerals are given to the same configuration as the correspondence information generation unit 140, and duplicate description will be omitted. That is, the description of the configuration of FIG. 7 having the same reference numerals as those shown in FIG. 3 will be omitted.

The correspondence information generation unit 140a includes a feature point extraction unit 141, a matching unit 142, a first region identification unit 145, a second region identification unit 146, and a superposition unit 144a.
The feature point extraction unit 141 extracts the feature points of the first image information acquired by the first image acquisition unit 110a and the third image information acquired by the second image acquisition unit 120.
The matching unit 142 compares the feature points of the first image information extracted by the feature point extraction unit 141 with the feature points of the third image information, and compares the feature points of the first image information with the feature points of the third image information, and the matching unit 142 compares the feature points of the first image information and the third image information, The positions of common feature points in the first image information and the third image information are specified.

The first region identification unit 145 is based on the positions of common feature points in the first image information and the third image information of the object that are commonly captured in the first image information and the third image information specified by the matching unit 142. The relative position of the first image pickup device 11a with respect to the second image pickup device 12 and the area photographed by the first image pickup device 11a when the first image pickup device 11a generates the first image information are specified.
More specifically, for example, the first region identification unit 145 uses a known five-point algorithm technique based on the positions of common feature points in the first image information and the third image information, and uses a second imaging apparatus. The relative position of the first image pickup device 11a with respect to 12 and the area photographed by the first image pickup device 11a when the first image pickup device 11a generates the first image information are specified. When using the 5-point algorithm technique, the first region identification unit 145 used, for example, the nonlinear least squares method in consideration of the reprojection error at the feature points extracted from the first image information and the third image information image. By adjusting the bundle, the relative position of the first image pickup device 11a with respect to the second image pickup device 12, the orientation of the optical system included in the first image pickup device 11a when the first image pickup device 11a generates the first image information, and The imaging conditions indicating the angle of view may be optimized and specified. Using a known five-point algorithm technique, the relative positions of the different imaging devices and the regions captured by the different imaging devices are specified based on common feature points in the image information captured by the different imaging devices. Since the method and the bundle adjustment method are known, the description thereof will be omitted.

The second area identification unit 146 includes an area photographed by the first image pickup device 11a when the first image pickup device 11a specified by the first area identification unit 145 generates the first image information, and the image pickup information acquisition unit 160. Based on the acquired first imaging information and the second imaging information, the region photographed by the first imaging device 11a at the second time point is specified.

More specifically, for example, the second region identification unit 146 has an imaging condition at the first time point and an imaging condition at the second time point based on the first imaging information and the second imaging information acquired by the imaging information acquisition unit 160. Calculate the difference between. Further, in the second region specifying unit 146, the difference between the calculated imaging condition at the first time point and the imaging condition at the second time point, and the first imaging device 11a specified by the first region specifying unit 145 generate the first image information. Using the pinhole camera model technology, based on the region photographed by the first imaging device 11a and the relative position of the first imaging device 11a with respect to the second imaging device 12 specified by the first region specifying unit 145. , The area photographed by the first image pickup apparatus 11a at the second time point is specified.

The superimposition unit 144a generates correspondence information in which each pixel in the second image information acquired by the first image acquisition unit 110a is associated with each point in the point cloud data acquired by the point cloud data acquisition unit 130.
More specifically, for example, the superimposing unit 144a is a second image acquired by the first image acquisition unit 110a based on the area captured by the first image pickup apparatus 11a specified by the second area identification unit 146 at the second time point. Each pixel in the image information is associated with each point in the region photographed by the first imaging device 11a at the second time point. Further, the superimposing unit 144a associates each pixel in the second image information in which each point in the region photographed by the first imaging device 11a at the second time point is associated with each point in the point group data, thereby causing a second. Correspondence information is generated in which each pixel in the image information and each point in the point group data are associated with each other.

The operation of the water level measuring device 100a according to the second embodiment will be described with reference to FIG.
8A and 8B are flowcharts illustrating an example of processing of the water level measuring device 100a according to the second embodiment.
The water level measuring device 100a repeatedly executes the processing of the flowchart shown in FIG. 8B after executing the processing of the flowchart shown in FIG. 8A.

First, in step ST801, the second image acquisition unit 120 acquires the third image information generated by the second image pickup apparatus 12.
Next, in step ST802, the point cloud data acquisition unit 130 acquires the point cloud data generated by the second imaging device 12.
Next, in step ST803, the first image acquisition unit 110a acquires the first image information generated by the first image pickup apparatus 11a.
Next, in step ST804, the image pickup information acquisition unit 160 is the first image pickup indicating the image pickup condition of the first image pickup device 11a when the first image pickup device 11a generates the first image information from the first image pickup device 11a. Get information.

Next, in step ST805, the feature point extraction unit 141 in the corresponding information generation unit 140a is of the first image information acquired by the first image acquisition unit 110a and the third image information acquired by the second image acquisition unit 120. Extract feature points.
Next, in step ST806, the matching unit 142 in the corresponding information generation unit 140a compares the feature points of the first image information extracted by the feature point extraction unit 141 with the feature points of the third image information, and first The positions of common feature points in the first image information and the third image information of the object that are commonly reflected in the image information and the third image information are specified.
Next, in step ST807, the first region identification unit 145 in the corresponding information generation unit 140a is the first image information and the first image information of the object that is commonly captured in the first image information and the third image information specified by the matching unit 142. Based on the positions of common feature points in the three image information, the relative position of the first image pickup device 11a with respect to the second image pickup device 12 and the first image pickup device 11a when the first image pickup device 11a generates the first image information. Identify the area taken by.

Next, in step ST811, the first image acquisition unit 110a acquires the second image information generated by the first image pickup apparatus 11a.
Next, in step ST812, the imaging information acquisition unit 160 performs a second imaging indicating the imaging conditions of the first imaging device 11a when the first imaging device 11a generates the second image information from the first imaging device 11a. Get information.
Next, in step ST813, the second region identification unit 146 in the corresponding information generation unit 140a is the first image pickup device when the first image pickup device 11a specified by the first region identification unit 145 generates the first image information. Based on the area photographed by 11a and the first imaging information and the second imaging information acquired by the imaging information acquisition unit 160, the area photographed by the first imaging device 11a at the second time point is specified.
Next, in step ST814, the superimposing unit 144a in the correspondence information generation unit 140a associates each pixel in the second image information acquired by the first image acquisition unit 110a with each point in the point cloud data. To generate.
Next, in step ST815, the water surface specifying unit 151 in the water level measuring unit 150 specifies the region of the water surface of the river in the second image information.
Next, in step ST816, the water level specifying unit 152 in the water level measuring unit 150 has a region of the river water surface in the second image information specified by the water surface specifying unit 151 and a background from the water surface reflected in the second image information. The boundary line with the area in the second image information of the object is specified.
Next, in step ST817, the water level specifying unit 152 in the water level measuring unit 150 uses the corresponding information generated by the corresponding information generation unit 140a based on the position of the boundary line in the specified second image information to generate the water level of the river. To measure.
Next, in step ST818, the output control unit 190 controls to output the information indicating the water level of the river measured by the water level measurement unit 150 to the output device 13.

After executing the process of step ST818, the water level measuring device 100a ends the process of the flowchart shown in FIG. 8B, returns to the process of step ST811, and repeatedly executes the process of the flowchart.
In the processing of the flowchart, if the processing of step ST801 and step ST802 is executed before the processing of step ST805, it may be executed after the processing of step ST803.

As described above, in the water level measuring device 100a, the first image information generated by the first imaging device 11a for monitoring the river condition at the first time point and the first image information generated by the first imaging device 11a at the second time point. The first image acquisition unit 110a for acquiring the two image information and the third image information generated by the second image pickup device 12 so that at least a part of the object reflected in the first image information generated by the first image pickup device 11a is captured. The second image acquisition unit 120 for acquiring the data, the point group data acquisition unit 130 for acquiring the point group data generated by the second imaging device 12, and the first image information and the second image acquired by the first image acquisition unit 110a. Based on the third image information acquired by the acquisition unit 120 and the point group data acquired by the point group data acquisition unit 130, the second image information acquired by the first image acquisition unit 110a and the point group data acquisition unit 130 Based on the correspondence information generation unit 140a that generates correspondence information associated with the acquired point group data, the second image information acquired by the first image acquisition unit 110a, and the correspondence information generated by the correspondence information generation unit 140a. , The water level measuring unit 150 that measures the water level of the river at the second time point, the first imaging information indicating the imaging conditions of the first imaging device 11a when the first imaging device 11a generates the first image information, and the first The corresponding information generation unit 140a includes a second imaging information indicating the imaging conditions of the first imaging device 11a when the imaging device 11a generates the second image information, and an imaging information acquisition unit 160 for acquiring the second imaging information. In addition to the 1 image information, the 3rd image information, and the point group data, the 2nd image acquired by the 1st image acquisition unit 110a is based on the 1st imaging information and the 2nd imaging information acquired by the imaging information acquisition unit 160. It is configured to generate correspondence information in which the information is associated with the point group data acquired by the point group data acquisition unit 130.

With this configuration, the water level measuring device 100a can measure the water surface elevation without installing a water plate in the river. In particular, the water level measuring device 100a uses the water plate as a river as long as the area captured by the surveillance camera includes the area where the point cloud data exists even when the imaging direction or the imaging magnification of the surveillance camera is changed. Water level can be measured without installing in.

In addition, within the scope of the invention, the present invention is free combination of the above-described embodiments, modification of any component of each of the above-described embodiments, or any component in each embodiment. Can be omitted.

The water level measuring device according to the present invention can be applied to a water level measuring system.

1,1a water level measurement system, 10 communication network, 11,11a first image pickup device, 12 second image pickup device, 13 output device, 100, 100a water level measurement device, 110, 110a first image acquisition unit, 120 second image acquisition Unit, 130 point group data acquisition unit, 140, 140a correspondence information generation unit, 141 feature point extraction unit, 142 matching unit, 143 correspondence unit, 144, 144a superimposition unit, 145 first area identification unit, 146 second area identification unit , 150 water level measurement unit, 151 water level identification unit, 152 water level identification unit, 160 imaging information acquisition unit, 190 output control unit, 201 processor, 202 memory, 203 processing circuit.

Claims (3)

The first image acquisition unit that acquires the first image information generated by the first image pickup device for monitoring the river condition at the first time point and the second image information generated by the first image pickup device at the second time point. When,
A second image acquisition unit that acquires the third image information generated by the second image pickup apparatus so that at least a part of the object reflected in the first image information generated by the first image pickup apparatus is captured.
A point cloud data acquisition unit that acquires point cloud data generated by the second imaging device, and
Based on the first image information acquired by the first image acquisition unit, the third image information acquired by the second image acquisition unit, and the point group data acquired by the point group data acquisition unit, the first image. (1) A correspondence information generation unit that generates correspondence information in which the second image information acquired by the image acquisition unit and the point group data acquired by the point group data acquisition unit are associated with each other.
A water level measuring unit that measures the water level of a river at the second time point based on the second image information acquired by the first image acquisition unit and the corresponding information generated by the corresponding information generation unit.
A water level measuring device that is characterized by being equipped with. The first imaging information indicating the imaging conditions of the first imaging device when the first imaging device generates the first image information, and the first imaging device when the first imaging device generates the second image information. 1 It is provided with an imaging information acquisition unit that acquires the second imaging information indicating the imaging conditions of the imaging device.
In addition to the first image information, the third image information, and the point group data, the corresponding information generation unit is based on the first imaging information and the second imaging information acquired by the imaging information acquisition unit. 1. The corresponding information in which the second image information acquired by the first image acquisition unit is associated with the point group data acquired by the point group data acquisition unit is generated. Water level measuring device. The first image acquisition unit obtains the first image information generated by the first image pickup device for monitoring the river condition at the first time point and the second image information generated by the first image pickup device at the second time point. Acquired,
The second image acquisition unit acquires the third image information generated by the second image pickup apparatus so that at least a part of the object reflected in the first image information generated by the first image pickup apparatus is captured.
The point cloud data acquisition unit acquires the point cloud data generated by the second imaging device, and obtains the point cloud data.
The corresponding information generation unit has the first image information acquired by the first image acquisition unit, the third image information acquired by the second image acquisition unit, and the point group data acquired by the point group data acquisition unit. Based on the above, the correspondence information in which the second image information acquired by the first image acquisition unit is associated with the point group data acquired by the point group data acquisition unit is generated.
The water level measuring unit measures the water level of the river at the second time point based on the second image information acquired by the first image acquisition unit and the corresponding information generated by the corresponding information generating unit. Water level measurement method.

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