JP7002898B2 - Image generator, image generator and shooting vehicle - Google Patents

Description

The present invention relates to a technique for arranging a plurality of images to generate an entire image.

In a conventional shooting vehicle for shooting a tunnel, a plurality of cameras are arranged in a fan shape.
By shooting with a plurality of cameras at the same time, it is possible to obtain a plurality of images showing the inner surface of the tunnel at the same position in the traveling direction of the shooting vehicle. That is, a plurality of images showing the inner surface of the tunnel at the same distance from the entrance of the tunnel can be obtained. Therefore, it is possible to generate a development view.
However, when a plurality of cameras are arranged in a fan shape, the viewpoints of the plurality of cameras do not match. Then, when the shooting vehicle approaches the wall of the tunnel, a part that is not shot will occur.
Further, when trying to arrange a plurality of cameras in a fan shape, the arrangement place is limited, so that it is difficult to use a large camera.

Japanese Unexamined Patent Publication No. 2001-141660 Japanese Unexamined Patent Publication No. 2016-218555

An object of the present invention is to arrange a plurality of images so that a correct overall image can be generated.

The image generation device of the present invention includes an image generation unit that generates an entire image by arranging a plurality of strip-shaped images obtained from a plurality of cameras installed in a vehicle.
The plurality of cameras are directed to the outside of the vehicle, are arranged at reference intervals in the length direction of the vehicle, and are oriented differently from each other in a vertical cross section perpendicular to the length direction of the vehicle. , A photograph is taken every time the vehicle travels a reference distance.
Each band-shaped image is an image obtained by arranging a plurality of images obtained by one camera in a direction corresponding to the length direction of the vehicle.
The image generation unit generates the entire image by shifting each band-shaped image by the number of adjustment pixels in a direction corresponding to the length direction of the vehicle.
The adjustment pixel number is the number of pixels obtained based on the reference interval and the reference distance.

According to the present invention, a plurality of images can be arranged side by side to generate a correct overall image.

The left side view of the photographing vehicle 100 in Embodiment 1. FIG. The plan view of the photographing vehicle 100 in Embodiment 1. FIG. The right side view of the photographing vehicle 100 in Embodiment 1. FIG. The left perspective view of the photographing apparatus 200 in Embodiment 1. FIG. The right perspective view of the photographing apparatus 200 in Embodiment 1. FIG. The front perspective view of the camera unit 210 in Embodiment 1. The back perspective view of the camera unit 210 in Embodiment 1. The figure which shows the imaging range of the photographing apparatus 200 in Embodiment 1. FIG. The figure which shows the imaging range of the photographing apparatus 200 in Embodiment 1. FIG. The figure which shows the imaging range of the photographing apparatus 200 in Embodiment 1. FIG. The figure which shows the imaging range of the photographing apparatus 200 in Embodiment 1. FIG. The block diagram of the image generation apparatus 300 in Embodiment 1. FIG. The flowchart of the image generation method in Embodiment 1. The figure which shows the band-shaped image 301 in Embodiment 1. FIG. The figure which shows the imaging direction of the camera unit group 201 in Embodiment 1. FIG. The figure which shows <Example 1> in Embodiment 1. FIG. The figure which shows the whole image 309 in Embodiment 1. FIG. The figure which shows the whole image 302 in Embodiment 1. FIG. The figure which shows <Example 2> in Embodiment 1. FIG. The figure which shows the subject spacing La of <Example 2> in Embodiment 1. FIG. The figure which shows <Example 3> in Embodiment 1. FIG. The figure which shows the wall surface angle θ of <Example 3> in Embodiment 1. FIG. The figure which shows the subject distance La of <Example 3> in Embodiment 1. FIG. The figure which shows the subject distance La of <Example 4> in Embodiment 1. FIG. The figure which shows the hardware composition of the image generation apparatus 300 in embodiment.

In embodiments and drawings, the same elements and corresponding elements are designated by the same reference numerals. Descriptions of elements with the same reference numerals are omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or the flow of processing.

Embodiment 1.
The photographing vehicle 100 and the image generation device 300 will be described with reference to FIGS. 1 to 24.

*** Explanation of configuration ***
The photographing vehicle 100 will be described with reference to FIGS. 1, 2 and 3.
FIG. 1 shows the left side surface of the photographing vehicle 100.
FIG. 2 shows the upper surface of the photographing vehicle 100.
FIG. 3 shows the right side surface of the photographing vehicle 100.

The photographing vehicle 100 is a vehicle for photographing the surroundings while traveling. Specifically, the wall surface in the tunnel is photographed while the photographing vehicle 100 is traveling in the tunnel.
The photographing vehicle 100 includes wheels 103 for traveling on a track in addition to tires 101 for traveling on a road. As a result, the photographing vehicle 100 functions as a road-rail vehicle.
An odometer, which will be described later, is installed on the tire 101.

The photographing vehicle 100 includes a loading platform 110 covered with a panel.
An imaging device described later is installed in the loading platform 110.
The panel of the loading platform 110 is provided with slits 111 (U1 to U5, R1 to R4, L1 to L5) in a portion corresponding to the photographing direction of the photographing apparatus.
The slit 111Ux is a slit 111 for the camera unit 210Ux described later.
The slit 111Rx is a slit 111 for the camera unit 210Rx described later.
The slit 111Lx is a slit 111 for the camera unit 210Lx described later.

In FIG. 3, the distance between the slit 111R1 and the slit 111R2 is Da, the distance between the slit 111R2 and the slit 111R3 is Db, and the distance between the slit 111R3 and the slit 111R4 is Dc.
The slit spacing coincides with the spacing of the camera unit 210 (camera described later).

An operation room 120 is provided at the front of the loading platform 110.
In the operation room 120, the operator operates a photographing device or the like.

A laser scanner 112 is installed at the rear of the loading platform 110.

The photographing apparatus 200 will be described with reference to FIGS. 4 and 5.
FIG. 4 is a perspective view showing the left side of the photographing apparatus 200.
FIG. 5 is a perspective view showing the right side of the photographing apparatus 200.

The photographing apparatus 200 includes three camera unit groups 201 (L, R, U).
The camera unit group 201L is a camera unit group 201 that is arranged in the upper stage and shoots in the left direction.
The camera unit group 201R is a camera unit group 201 that is arranged in the middle stage and shoots in the right direction.
The camera unit group 201U is a camera unit group 201 that is arranged in the lower stage and shoots upward.

Each camera unit group 201 is composed of a plurality of camera units 210.
The camera unit group 201L is composed of five camera units 210 (L1 to L5).
The camera unit group 201R is composed of four camera units 210 (R1 to R5).
The camera unit group 201U is composed of five camera units 210 (U1 to U5).

In FIG. 5, the distance between the camera unit 210R1 and the camera unit 210R2 is Da, the distance between the camera unit 210R2 and the camera unit 210R3 is Db, and the distance between the camera unit 210R3 and the camera unit 210R4 is Dc.

The camera unit 210 will be described with reference to FIGS. 6 and 7.
The camera unit 210 includes a frame 211, a camera 212, a control box 213, a lighting 214, and an acrylic plate 215.
The camera 212, the control box 213 and the illumination 214 are attached to the frame 211.
The acrylic plate 215 is arranged in the shooting direction of the camera 212.

The camera 212 obtains an image by shooting.
Specifically, the camera 212 is a line camera. A line camera is a camera that obtains a row of images in one shot. The line camera is also referred to as a line sensor or a line sensor camera.

The control box 213 houses a board and wiring for controlling the camera 212.

The illumination 214 illuminates the shooting direction of the camera 212. Specifically, the illumination 214 is laser illumination.
When checking whether or not there are scratches on the wall surface, it is easier to see the scratches by irradiating the camera 212 with light from an angle in the shooting direction. Therefore, the illumination 214 is fixed at a position deviated from the camera 212, and illuminates the shooting direction of the camera 212 at an angle.

The acrylic plate 215 is a transparent plate and protects the camera 212.

Returning to FIGS. 4 and 5, the description of the camera unit group 201 will be continued.
In FIGS. 4 and 5, the front-rear direction corresponds to the length direction of the photographing vehicle 100, and the left-right direction corresponds to the width direction of the photographing vehicle 100.

In each camera unit group 201, the plurality of cameras 212 are configured as follows.
The plurality of cameras 212 are directed to the outside of the shooting vehicle 100.
The plurality of cameras 212 are arranged at reference intervals in the length direction of the photographing vehicle 100. The reference interval is the distance between the cameras 212 in the length direction of the photographing vehicle 100.
The plurality of cameras 212 have different orientations in a vertical cross section perpendicular to the length direction of the photographing vehicle 100.
The plurality of cameras 212 take pictures each time the shooting vehicle 100 travels a reference distance. Specifically, the plurality of cameras 212 take a picture each time a pulse is output from the odometer of the shooting vehicle 100. The odometer outputs a pulse each time the photographing vehicle 100 travels a reference distance.

The photographing range 209 of the photographing apparatus 200 will be described with reference to FIGS. 8, 9, 10 and 11.
FIG. 8 corresponds to FIG. 4, and the shooting range 209U (1 to 5) of the camera unit group 201U is shown by a broken line.
FIG. 9 corresponds to FIG. 4, and the shooting range 209L (1 to 5) of the camera unit group 201L is shown by a alternate long and short dash line.
FIG. 10 corresponds to FIG. 5, and the shooting range 209R (1 to 4) of the camera unit group 201R is shown by a two-dot chain line.

FIG. 11 shows a state in which the photographing apparatus 200 installed on the loading platform 110 of the photographing vehicle 100 is viewed from the rear of the photographing vehicle 100. The plane shown in FIG. 11 corresponds to a vertical cross section perpendicular to the length direction of the photographing vehicle 100.
The broken line indicates the shooting range 209U of the camera unit group 201U, the one-dot chain line indicates the shooting range 209L of the camera unit group 201L, and the two-dot chain line indicates the shooting range 209R of the camera unit group 201R.
The arc with the arrow indicates the entire photographing range 209 of the photographing apparatus 200. The entire shooting range 209 of the shooting device 200 extends to about 268 degrees.

The configuration of the image generation device 300 will be described with reference to FIG.
The image generation device 300 is a computer including hardware such as a processor 901, a memory 902, and an auxiliary storage device 903. These hardware are connected to each other via a signal line.

The processor 901 is an IC (Integrated Circuit) that performs arithmetic processing, and controls other hardware. For example, the processor 901 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).
The memory 902 is a volatile storage device. The memory 902 is also referred to as a main storage device or a main memory. For example, the memory 902 is a RAM (Random Access Memory). The data stored in the memory 902 is stored in the auxiliary storage device 903 as needed.
The auxiliary storage device 903 is a non-volatile storage device. For example, the auxiliary storage device 903 is a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 903 is loaded into the memory 902 as needed.

The image generation device 300 includes an image generation unit 310. The image generation unit 310 includes a band-shaped image generation unit 311 and an overall image generation unit 312. These elements are realized by software.

The auxiliary storage device 903 stores an image generation program for operating the computer as the image generation unit 310. The image generation program is loaded into memory 902 and executed by processor 901.
Further, an OS (Operating System) is stored in the auxiliary storage device 903. At least a portion of the OS is loaded into memory 902 and executed by processor 901.
That is, the processor 901 executes the image generation program while executing the OS.
The data obtained by executing the image generation program is stored in a storage device such as a memory 902, an auxiliary storage device 903, a register in the processor 901, or a cache memory in the processor 901.

The memory 902 functions as a storage unit 391 for storing data. However, another storage device may function as the storage unit 391 instead of the memory 902 or together with the memory 902.

The image generator 300 may include a plurality of processors that replace the processor 901. The plurality of processors share the role of the processor 901.

The image generation program can be computer-readablely recorded on a non-volatile recording medium such as an optical disk or flash memory. In other words, the image generator can be computer-readablely stored in a non-volatile recording medium.

*** Explanation of operation ***
The operation of the image generation device 300 corresponds to the image generation method. Further, the procedure of the image generation method corresponds to the procedure of the image generation program.

In the image generation method, the image generation unit 310 arranges a plurality of strip-shaped images obtained from a plurality of cameras 212 installed in the shooting vehicle 100 to generate an entire image. The band-shaped image and the whole image will be described later.

An image generation method will be described with reference to FIG.
In step S110, the band-shaped image generation unit 311 generates a band-shaped image for each camera 212.

The band-shaped image is an image obtained by arranging a plurality of images obtained by one camera 212 in a direction corresponding to the length direction of the photographing vehicle 100.
Specifically, the strip-shaped image is an image obtained by arranging a plurality of line images obtained by one line camera in a direction corresponding to the length direction of the photographing vehicle 100.

The band-shaped image generation unit 311 generates a band-shaped image for each camera 212 as follows.
A line image group is stored in the storage unit 391. The line image group is a plurality of line images obtained by one line camera. The line image is a row of images obtained by one shooting.
The band-shaped image generation unit 311 selects each line image from the line image group in the order of shooting time, and arranges each line image in the direction corresponding to the length direction of the shooting vehicle 100. The image obtained by this is a band-shaped image. The storage unit 391 stores each band-shaped image.

FIG. 14 shows a strip-shaped image 301.
The band-shaped image 301 is an image in which a plurality of images are arranged in the X-axis direction. Each image long in the Y-axis direction is a line image.
The X-axis indicates a direction corresponding to the length direction of the photographing vehicle 100. The length direction of the photographing vehicle 100 corresponds to the traveling direction of the photographing vehicle 100.
The Y-axis indicates a direction corresponding to the height direction of the photographing vehicle 100 or the width direction of the photographing vehicle 100.

Returning to FIG. 13, step S120 will be described.
In step S120, the whole image generation unit 312 arranges a plurality of strip-shaped images to generate a whole image.

The whole image generation unit 312 generates the whole image as follows.
The whole image generation unit 312 arranges a plurality of strip-shaped images in a direction corresponding to the height direction of the photographing vehicle 100 or a direction corresponding to the width direction of the photographing vehicle 100.

However, the overall image generation unit 312 shifts each band-shaped image by the number of adjustment pixels in the direction corresponding to the length direction of the photographing vehicle 100. The image obtained by this is the whole image.
The number of adjusted pixels is the number of pixels obtained based on the reference interval and the reference distance. The reference interval is the distance between the cameras 212 in the length direction of the photographing vehicle 100.
The reference distance is the distance that the shooting vehicle 100 travels from the time of the previous shooting to the time of the current shooting.

FIG. 15 shows a front view of the photographing vehicle 100 traveling in the tunnel.
The camera unit group 201 in the middle stage photographs the wall surface on the right side of the photographing vehicle 100.
In the camera unit group 201 in the middle stage, each camera has a different orientation in the height direction of the shooting vehicle 100.
Therefore, the overall image generation unit 312 arranges a plurality of strip-shaped images obtained by shooting the camera unit group 201 in the middle stage in a direction corresponding to the height direction of the shooting vehicle 100.

In addition, the camera unit group in the upper row photographs the wall surface on the left side.
In the upper camera unit group, each camera has a different orientation in the height direction of the shooting vehicle 100.
Therefore, the overall image generation unit 312 arranges a plurality of strip-shaped images obtained by shooting the upper camera unit group in a direction corresponding to the height direction of the shooting vehicle 100.

In addition, the lower camera unit group photographs the upper wall surface.
In the lower camera unit group, each camera has a different orientation in the width direction of the photographing vehicle 100.
Therefore, the overall image generation unit 312 arranges a plurality of strip-shaped images obtained by shooting the lower camera unit group in a direction corresponding to the width direction of the shooting vehicle 100.

When the shooting ranges of the cameras overlap in the height direction of the shooting vehicle 100 or the width direction of the shooting vehicle 100, the overall image generation unit 312 calculates the number of pixels corresponding to the overlapping of the shooting ranges. Then, the whole image generation unit 312 superimposes adjacent strip-shaped images by the calculated number of pixels in the direction corresponding to the height direction of the photographing vehicle 100 or the width direction of the photographing vehicle 100.

FIG. 16 shows a state in which the photographing vehicle 100 is viewed from above.
The positions of the cameras 212 are different in the length direction of the shooting vehicle 100.
The distance between the camera (1) and the camera (2) is Da, the distance between the camera (2) and the camera (3) is Db, and the distance between the camera (3) and the camera (4) is Dc. ..
The distance Da, the distance Db, and the distance Dc are referred to as reference intervals.

Therefore, if a plurality of strip-shaped images obtained in the same time zone are simply arranged, the wall surface reflected in each strip-shaped image shifts by the camera interval.
That is, if a plurality of strip-shaped images obtained in the same time zone are simply arranged, the correct overall image cannot be obtained as a developed view of the tunnel.

FIG. 17 shows an overall image 309 obtained by simply arranging a plurality of band-shaped images obtained in the same time zone. The band-shaped image (n) is a band-shaped image obtained by taking a picture of the camera (n).
The whole image 309 is not a correct whole image as a development view of the tunnel as shown below.
In the direction x corresponding to the length direction of the photographing vehicle 100, the position of the wall surface (crack) reflected in the band-shaped image (1) and the band-shaped image (2) is deviated by the number of pixels Sa.
In the direction x corresponding to the length direction of the photographing vehicle 100, the position of the wall surface (crack) reflected in the band-shaped image (2) and the band-shaped image (3) is deviated by the number of pixels Sb.
In the direction x corresponding to the length direction of the photographing vehicle 100, the positions of the wall surfaces (cracks) reflected in the band-shaped image (3) and the band-shaped image (4) are shifted by the number of pixels Sc.
The number of pixels Sa, the number of pixels Sb, and the number of pixels Sc are referred to as the number of adjusted pixels.

The overall image generation unit 312 shifts each band-shaped image by the number of adjustment pixels in the direction corresponding to the length direction of the photographing vehicle 100.

FIG. 18 shows an overall image 302 obtained by shifting each band-shaped image by the number of adjustment pixels in a direction corresponding to the length direction of the photographing vehicle 100.
In the whole image 302, the positions of the wall surfaces (cracks) reflected in each band-shaped image are the same.
In the direction x corresponding to the length direction of the photographing vehicle 100, the band-shaped image (2) is deviated from the band-shaped image (1) by the number of pixels Sa.
In the direction x corresponding to the length direction of the photographing vehicle 100, the band-shaped image (3) is deviated from the band-shaped image (2) by the number of pixels Sb.
In the direction x corresponding to the length direction of the photographing vehicle 100, the band-shaped image (4) and the band-shaped image (3) are deviated by the number of pixels Sc.
The number of pixels Sa, the number of pixels Sb, and the number of pixels Sc are referred to as the number of adjusted pixels.

The formula for calculating the number of adjusted pixels will be described below.
The number of adjustment pixels is calculated in advance and stored in the storage unit 391. Alternatively, the number of adjusted pixels is calculated by the overall image generation unit 312 and stored in the storage unit 391.

<Example 1>
The formula for calculating the number of adjusted pixels in the state of FIG. 16 will be described.
In the state of FIG. 16, the condition (1-4) is satisfied from the condition (1-1).
Condition (1-1): The odometer 102 outputs a pulse each time the photographing vehicle 100 travels a reference distance, and each camera 212 photographs each time the odometer 102 outputs a pulse.
Condition (1-2): The distances (Da, Db and Dc) between the cameras in the length direction of the photographing vehicle 100, that is, the reference interval is known.
Condition (1-3): In the cross section perpendicular to the height direction of the photographing vehicle 100, the direction of each camera is not tilted with respect to the width direction of the photographing vehicle 100. The plane shown in FIG. 16 corresponds to a cross section.
Condition (1-4): The photographing vehicle 100 travels in parallel with the wall surface.

The number of adjustment pixels can be expressed by the following equation.
Number of adjustment pixels = Reference interval / Reference distance

For example, when the reference interval is 30 centimeters and the reference distance is 0.5 millimeters, the number of adjustment pixels is 600 pixels.

<Example 2>
The formula for calculating the number of adjusted pixels in the state of FIG. 19 will be described.
In the state of FIG. 19, the condition (2-1) to the condition (2-4) is satisfied.
Condition (2-1): The odometer 102 outputs a pulse each time the photographing vehicle 100 travels a reference distance, and each camera 212 photographs each time the odometer 102 outputs a pulse.
Condition (2-2): Distances between cameras (Da, Db and Dc) in the length direction of the photographing vehicle 100, that is, a reference interval is known.
Condition (2-3): In the cross section intersecting the height direction of the photographing vehicle 100, the direction of each camera is tilted with respect to the width direction of the photographing vehicle 100. The tilt of each camera in the cross section is known. The cross section shown in FIG. 19 corresponds to a cross section.
Condition (2-4): The photographing vehicle 100 travels in parallel with the wall surface.

The subject distance Lp is the distance from each camera to the wall surface in the vertical cross section.
The measurement distance Lm is the distance from the laser scanner 112 to the wall surface in the vertical cross section, and is measured by the laser scanner 112.
The relative distance Lr is the distance from the laser scanner 112 to each camera in the vertical cross section.

FIG. 20 shows the subject distance La between the camera (1) and the camera (2).
The subject spacing La is the distance between the part of the adjacent camera taken by the front camera (1) and the part of the adjacent camera taken by the rear camera (2) in the cross section. ..

The first distance difference D ₁ is the distance difference of the front camera (1), and the second distance difference D ₂ is the distance difference of the rear camera (2). The distance difference between the cameras is the distance between the wall surface actually photographed and the wall surface photographed by the camera when the direction of the camera is not tilted with respect to the width direction of the photographing vehicle 100.
When the front camera (1) is tilted forward, the first distance difference D ₁ is a positive value. When the front camera (1) is tilted backward, the first distance difference D1 _{has a} negative value.
When the rear camera (2) is tilted backward, the second distance difference D ₂ is a positive value. When the rear camera (2) is tilted forward, the second distance difference D ₂ has a negative value.

The first tilt angle ω is the tilt angle of the front camera (1), and the second tilt angle γ is the tilt angle of the rear camera (2). The tilt angle is the angle of tilt of the camera with respect to the width direction of the photographing vehicle 100 in the cross section.

The whole image generation unit 312 calculates the number of adjusted pixels by calculating the following formula.
Number of adjusted pixels = Subject spacing / Reference distance Subject spacing = Reference spacing + First distance difference + Second distance difference First distance difference = Subject distance x tan (ω)
Second distance difference = subject distance x tan (γ)

<Example 3>
The formula for calculating the number of adjusted pixels in the state of FIG. 21 will be described.
In the state of FIG. 21, the condition (3-1) to the condition (3-4) is satisfied.
Condition (3-1): The odometer 102 outputs a pulse each time the photographing vehicle 100 travels a reference distance, and each camera 212 photographs each time the odometer 102 outputs a pulse.
Condition (3-2): The distances (Da, Db and Dc) between the cameras in the length direction of the photographing vehicle 100, that is, the reference interval is known.
Condition (3-3): In the cross section perpendicular to the height direction of the photographing vehicle 100, the direction of each camera is not tilted with respect to the width direction of the photographing vehicle 100. The plane shown in FIG. 21 corresponds to a cross section.
Condition (3-4): The photographing vehicle 100 does not run parallel to the wall surface.

The subject distance Ln is the distance from the camera (n) to the wall surface in the vertical cross section.
The measurement distance Lm is the distance from the laser scanner 112 to the wall surface in the vertical cross section, and is measured by the laser scanner 112.
The relative distance Lr is the distance from the laser scanner 112 to each camera in the vertical cross section.

FIG. 22 shows the wall surface angle θ.
The wall surface angle θ is an angle formed by the length direction of the photographing vehicle 100 and the length direction of the wall surface.
The first measurement distance Lm ₁ is the measurement distance Lm obtained in the previous measurement.
The second measurement distance Lm ₂ is the measurement distance Lm obtained in the later measurement.
The measurement interval Dm is the distance traveled by the photographing vehicle 100 from the previous measurement to the subsequent measurement.

The whole image generation unit 312 calculates the wall surface angle θ by calculating the following equation.
Wall angle θ = arctan ((Lm ₁ -Lm ₂ ) / Dm)
Measurement interval Dm = number of pulses × reference distance The number of pulses is the number of pulses output from the odometer 102 from the previous measurement to the subsequent measurement.

FIG. 23 shows the subject distance La between the camera (1) and the camera (2).
The subject spacing La is the distance between the part of the adjacent camera taken by the front camera (1) and the part of the adjacent camera taken by the rear camera (2) in the cross section. ..

The whole image generation unit 312 calculates the number of adjusted pixels by calculating the following formula.
Number of adjusted pixels = Subject spacing / Reference distance Subject spacing = Reference spacing / cosθ

<Example 4>
The formula for calculating the number of adjusted pixels in the combination of the second embodiment and the third embodiment will be described.
Condition (4-4) is satisfied from condition (4-1).
Condition (4-1): The odometer 102 outputs a pulse each time the photographing vehicle 100 travels a reference distance, and each camera 212 photographs each time the odometer 102 outputs a pulse.
Condition (4-2): The distances (Da, Db and Dc) between the cameras in the length direction of the photographing vehicle 100, that is, the reference interval is known.
Condition (4-3): In the cross section intersecting the height direction of the photographing vehicle 100, the direction of each camera is tilted with respect to the width direction of the photographing vehicle 100. The tilt of each camera in the cross section is known.
Condition (4-4): The photographing vehicle 100 does not run parallel to the wall surface.

FIG. 24 shows the subject distance La between the camera (1) and the camera (2).
The first distance difference D ₁ is the distance difference of the front camera (1), and the second distance difference D ₂ is the distance difference of the rear camera (2). The distance difference between the cameras is the distance between the actual shooting location and the shooting location when the camera is not tilted with respect to the width direction of the shooting vehicle 100.

The provisional interval Da'is the subject interval in <Example 3>.

The first subject distance L ₁ is the distance from the camera (1) to the wall surface in the cross section.
The second subject distance L ₂ is the distance from the camera (2) to the wall surface in the cross section.

The wall surface angle θ is an angle formed by the length direction of the photographing vehicle 100 and the length direction of the wall surface.
The first tilt angle ω is the tilt angle of the front camera (1), and the second tilt angle γ is the tilt angle of the rear camera (2). The tilt angle is the angle of the camera with respect to the width direction of the photographing vehicle 100 in the cross section.

The whole image generation unit 312 calculates the number of adjusted pixels by calculating the following formula.
Number of adjusted pixels = Subject spacing / Reference distance Subject spacing = First distance difference + Second distance difference + Provisional interval First distance difference = First subject distance x tan (ω) / cos (θ)
Second distance difference = second subject distance x tan (δ) / cos (θ)
Temporary interval = reference interval / cos (θ)

*** Effect of Embodiment 1 ***
By arranging a plurality of cameras in the length direction of the shooting vehicle 100, the viewpoints of the respective cameras can be matched. As a result, it becomes easy to arrange a plurality of strip-shaped images to generate an entire image. It also makes it possible to use a large camera.
By arranging the strip-shaped images by shifting the number of adjustment pixels in the direction corresponding to the length direction of the photographing vehicle 100, a correct overall image can be generated.
By performing shooting in synchronization with the odometer, each camera can obtain the number of adjusted pixels without considering the speed of the shooting vehicle 100.

*** Supplement to the embodiment ***
The hardware configuration of the image generation device 300 will be described with reference to FIG. 25.
The image generator 300 includes a processing circuit 990.
The processing circuit 990 is hardware that realizes the image generation unit 310.
The processing circuit 990 may be dedicated hardware or a processor 901 that executes a program stored in the memory 902.

When the processing circuit 990 is dedicated hardware, the processing circuit 990 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
ASIC is an abbreviation for Application Specific Integrated Circuit, and FPGA is Field Programmable Gate.
Abbreviation for Array.
The image generation device 300 may include a plurality of processing circuits that replace the processing circuit 990. The plurality of processing circuits share the role of the processing circuit 990.

In the image generator 300, some functions may be realized by dedicated hardware, and the remaining functions may be realized by software or firmware.

In this way, the processing circuit 990 can be realized by hardware, software, firmware or a combination thereof.

The embodiments are examples of preferred embodiments and are not intended to limit the technical scope of the invention. The embodiment may be partially implemented or may be implemented in combination with other embodiments. The procedure described using the flowchart or the like may be appropriately changed.

100 shooting vehicle, 101 tires, 102 odometer, 103 wheels, 110 loading platform, 111 slit, 112 laser scanner, 120 operation room, 200 shooting device, 201 camera unit group, 209 shooting range, 210 camera unit, 211 frame, 212 camera, 213 Control box, 214 lighting, 215 acrylic plate, 300 image generator, 301 band image, 302 whole image, 309 whole image, 310 image generator, 311 band image generator, 312 whole image generator, 391 storage, 901 Processor, 902 memory, 903 auxiliary storage, 990 processing circuit.

Claims (10)

It is an image generation device including an image generation unit that generates an entire image by arranging a plurality of band-shaped images obtained from a plurality of cameras installed in a vehicle.
The plurality of cameras are directed to the outside of the vehicle, are arranged at reference intervals in the length direction of the vehicle, and are oriented differently from each other in a vertical cross section perpendicular to the length direction of the vehicle. , Take a picture every time the vehicle travels the reference distance,
Each band-shaped image is an image obtained by arranging a plurality of images obtained by one camera in a direction corresponding to the length direction of the vehicle.
The image generation unit generates the entire image by shifting each band-shaped image by the number of adjustment pixels in the direction corresponding to the length direction of the vehicle.
The adjustment pixel number is an image generation device which is the number of pixels obtained based on the reference interval and the reference distance. When the direction of each camera is not tilted with respect to the width direction of the vehicle in the cross section perpendicular to the height direction of the vehicle and the vehicle travels parallel to the wall surface, the adjustment pixel number is the same. The image generation device according to claim 1, which is a value obtained by dividing a reference interval by the reference distance. When the direction of each camera is tilted with respect to the width direction of the vehicle in the cross section perpendicular to the height direction of the vehicle and the vehicle travels in parallel with the wall surface, the image generation unit is described. The subject spacing is calculated using the reference spacing, the first tilt angle, the second tilt angle, and the subject distance, and the subject spacing is divided by the reference distance to calculate the number of adjusted pixels.
The first tilt angle is the tilt angle of the camera in front of the adjacent cameras.
The second tilt angle is the tilt angle of the rear camera among the adjacent cameras.
The subject distance is the distance from each camera in the vertical cross section to the wall surface.
The image generation device according to claim 1, wherein the subject spacing is a distance between a portion photographed by the front camera and a portion photographed by the rear camera in the cross section. When the direction of each camera is not tilted with respect to the width direction of the vehicle in the cross section perpendicular to the height direction of the vehicle and the vehicle does not run parallel to the wall surface, the image generation unit is said to be the same. The subject spacing is calculated using the reference spacing and the wall surface angle, and the subject spacing is divided by the reference distance to calculate the number of adjusted pixels.
The wall surface angle is an angle formed by the length direction of the vehicle and the length direction of the wall surface.
The image according to claim 1, wherein the subject spacing is a distance between a portion of the adjacent cameras taken by the front camera and a portion of the adjacent cameras taken by the rear camera. Generator. When the direction of each camera is tilted with respect to the width direction of the vehicle in the cross section perpendicular to the height direction of the vehicle and the vehicle does not travel parallel to the wall surface, the image generation unit is the first. The subject spacing is calculated using the 1 tilt angle, the 1st subject distance, the 2nd tilt angle, the 2nd subject distance, the wall surface angle, and the reference spacing, and the subject spacing is divided by the reference distance to obtain the number of adjusted pixels. Calculate and
The first tilt angle is the tilt angle of the camera in front of the adjacent cameras.
The first subject distance is the distance from the front camera to the wall surface in the vertical cross section.
The second tilt angle is the tilt angle of the rear camera among the adjacent cameras.
The second subject distance is the distance from the rear camera to the wall surface in the vertical cross section.
The wall surface angle is an angle formed by the length direction of the vehicle and the length direction of the wall surface.
The image generation device according to claim 1, wherein the subject spacing is a distance between a portion photographed by the front camera and a portion photographed by the rear camera in the cross section. The plurality of cameras take a picture each time a pulse is output from the odometer of the vehicle.
The image generation device according to any one of claims 1 to 5, wherein the odometer outputs a pulse each time the vehicle travels the reference distance. It is an image generation program for causing a computer to execute an image generation process of arranging a plurality of band-shaped images obtained from a plurality of cameras installed in a vehicle to generate an entire image.
The plurality of cameras are directed to the outside of the vehicle, are arranged at reference intervals in the length direction of the vehicle, and are oriented differently from each other in a vertical cross section perpendicular to the length direction of the vehicle. , Take a picture every time the vehicle travels the reference distance,
Each band-shaped image is an image obtained by arranging a plurality of images obtained by one camera in a direction corresponding to the length direction of the vehicle.
In the image generation process, each band-shaped image is shifted by the number of adjustment pixels in the direction corresponding to the length direction of the vehicle to generate the entire image.
The adjustment pixel number is an image generation program which is the number of pixels obtained based on the reference interval and the reference distance. It is a shooting vehicle equipped with a loading platform covered with panels.
An imaging device is installed in the loading platform.
The photographing device includes a camera unit and is equipped with a camera unit.
The camera unit includes a plurality of cameras and has a plurality of cameras.
The plurality of cameras are directed to the outside of the photographing vehicle, are arranged at reference intervals in the length direction of the photographing vehicle, and are oriented toward each other in a vertical cross section perpendicular to the length direction of the photographing vehicle. It is different, and the shooting is performed every time the shooting vehicle advances the reference distance.
The loading platform is a shooting vehicle characterized by having a slit in a portion corresponding to the shooting direction of each camera. The shooting vehicle according to claim 8, wherein the slit spacing coincides with the camera spacing in the length direction of the shooting vehicle. The shooting device includes a camera unit for top shooting, a camera unit for left shooting, and a camera unit for right shooting.
Each of the camera unit for top shooting, the camera unit for left shooting, and the camera unit for right shooting is equipped with multiple cameras.
The loading platform has a portion corresponding to the shooting direction of each camera of the upper shooting camera unit, a portion corresponding to the shooting direction of each camera of the left shooting camera unit, and the right shooting camera unit. The shooting vehicle according to claim 8 or 9, which has a slit in each of the portions corresponding to the shooting directions of each camera.

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