JP7133900B2 - Shooting position specifying system, shooting position specifying method, and program - Google Patents

Description

The present invention relates to a photographing position specifying system, a photographing position specifying method, and a program.

In each business such as building maintenance management and layout design, it is necessary to accurately grasp the situation of the target building. Photographed images taken on-site are effective means for accurately grasping the situation of a building. When the number of images obtained by photographing increases, it may become difficult to identify the position where each image was photographed.
The similarity between the photographed image obtained by photographing and the image stored in advance in the database is determined, and based on the result of the determination, the photographing position information stored in the database in association with the image is retrieved, and the similarity is determined. A technique for notifying the shooting position information of the determined image is known (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2008-310446

However, with the technique disclosed in Patent Document 1, there are cases where only pre-stored position information is notified, and only information indicating a general position can be obtained.
The problem to be solved by the present invention is to provide a photographing position specifying system, a photographing position specifying method, and a program that can specify the position of a photographed image by a simpler method.

(1) A photographing position specifying system according to one aspect of the present invention includes a real image acquisition unit that acquires an all-surrounding image as a surrounding image that shows the situation around an observation point in real space by projecting onto a spherical surface; A plurality of pairs are extracted from a combination of points spaced apart in a first horizontal direction among directions along the spherical surface, and two points of the first pair and a second pair are extracted from the plurality of pairs. and the positions of points on the reference plane corresponding to the first set of two points and the second set of two points, respectively, on the reference plane corresponding to the observation point a position derivation unit for deriving a position, the position derivation unit being a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image, and an orthogonal coordinate system having an axis extending vertically from the origin. With regard to the coordinate system, the inclination is adjusted so that the polar direction of the polar coordinate system and the vertical direction of the orthogonal coordinate system are aligned, and after the adjustment, the surrounding image is projected onto the spherical surface and used to perform the observation . The position corresponding to the point is associated with the origin of the polar coordinate system, and the position corresponding to the observation point is defined as a position on the reference plane including the horizontal axis in the orthogonal coordinate system and a position on the reference plane. , and based on the position corresponding to the observation point, it is possible to associate collected information indicating the surrounding situation of the observation point with a predetermined position on the spherical surface .
(2) In the photographing position specifying system, the position derivation unit derives an angle based on the positions of the first set of two points and the second set of two points, A position on the reference plane corresponding to the observation point is derived based on the position of the point on the reference plane corresponding to the point and the second set of two points, respectively, and the angle.
(3) Further, in the photographing position specifying system, the position derivation unit associates the peripheral image with the spherical surface, wherein the first direction is a circumferential direction of the spherical surface that makes a round about an axis. .
( 4 ) Further, in the photographing position specifying system, the position derivation unit shares one of the two points of the first set and the two points of the second set.
( 5 ) In the photographing position specifying system, the position derivation unit projects the surrounding image onto the spherical surface that is the inner surface of the sphere .
( 6 ) A method for identifying a photographing position according to an aspect of the present invention includes the steps of: obtaining an all-surrounding image as a surrounding image showing a situation around an observation point in real space by projecting onto a spherical surface; A plurality of sets are extracted from combinations of points arranged at a distance in a first direction related to the horizontal direction among the along directions, and two points of the first set and two points of the second set are extracted from the plurality of sets. and the positions of the points on the reference plane corresponding to the two points of the first set and the two points of the second set, respectively, the position on the reference plane corresponding to the observation point is derived. a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image, and an orthogonal coordinate system having an axis extending vertically from the origin, the polar direction of the polar coordinate system The inclination is adjusted so that the vertical direction of the coordinate system is aligned, and after the adjustment, the surrounding image is projected onto the spherical surface and used to associate the origin of the polar coordinate system with the position corresponding to the observation point. and a position corresponding to the observation point is indicated by using a position on the reference plane including the horizontal axis in the orthogonal coordinate system and a height from the reference plane , and corresponding to the observation point and making it possible to associate the collected information indicating the circumstances around the observation point with a predetermined position on the spherical surface on the basis of the position .
( 7 ) A program according to one aspect of the present invention comprises the steps of: obtaining an all-surrounding image as a surrounding image showing a situation around an observation point in real space by projecting onto a spherical surface; A plurality of pairs are extracted from combinations of points arranged at a distance in a first horizontal direction, and the positions of two points of the first pair and two points of the second pair among the plurality of pairs are extracted. , deriving a position on the reference plane corresponding to the observation point based on the positions of points on the reference plane corresponding to the first set of two points and the second set of two points, respectively; , a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image, and an orthogonal coordinate system having an axis extending vertically from the origin, the polar direction of the polar coordinate system and the orthogonal coordinate system The tilt is adjusted so that it matches the vertical direction, and after the adjustment, the surrounding image is projected onto the spherical surface and used, and the origin of the polar coordinate system is associated with the position corresponding to the observation point. , indicating the position corresponding to the observation point by using the position on the reference plane including the horizontal axis in the orthogonal coordinate system and the height from the reference plane , and the position corresponding to the observation point as the reference and enabling a predetermined position on the spherical surface to be associated with collected information indicating the situation around the observation point .

According to the present invention, it is possible to provide a photographing position specifying system, a photographing position specifying method, and a program that can specify the position of a photographed image by a simpler method.

1 is a configuration diagram of a photographing position identification system according to an embodiment of the present invention; FIG. It is a figure which shows an example of the space model M which forms the projection plane S which concerns on embodiment. 1 is a configuration diagram of an imaging device 100 according to an embodiment; FIG. FIG. 10 is a diagram showing an image by the equirectangular projection method according to the embodiment; FIG. 4B illustrates an example of the image of FIG. 4A drawn inside the surface of a hollow cylinder, according to an embodiment; FIG. 4B is a diagram illustrating an example of a state in which the image of FIG. 4A is projected inside the surface of a hollow sphere according to the embodiment; 1 is a configuration diagram of a terminal device 200 according to an embodiment; FIG. 2 is a hardware configuration diagram of an information provision support device 400 according to an embodiment; FIG. 1 is a functional configuration diagram of an information provision support device 400 according to an embodiment; FIG. It is a figure which shows an example which displays the three-dimensional virtual space which concerns on embodiment. It is a figure for showing the processing which processes the surroundings image concerning an embodiment. 4 is a flow chart showing an example of processing for deriving the position of an observation point according to the embodiment; FIG. 2 is a diagram of a diagram of the equirectangular projection according to the embodiment rolled into a cylinder and viewed from the direction along the axis. Fig. 9 is a plan view of the target range 10 (Fig. 9) of the building 2 according to the embodiment; It is a figure for showing processing which acquires a position of an observation point concerning an embodiment. FIG. 11 is a diagram for explaining processing for synthesizing a plurality of images according to Modification 3 of the first embodiment; FIG. 14 is a diagram for explaining a process of deriving an angle according to modification 4 of the first embodiment; 9 is a flowchart showing an example of processing for deriving the position of an observation point according to the second embodiment; FIG. 12 is a diagram for showing processing for processing a surrounding image according to the fourth embodiment; FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A shooting position specifying system, an information visualization method, and a program according to embodiments of the present invention will be described below with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a configuration diagram of a shooting position specifying system according to an embodiment of the present invention.

[Shooting position identification system]
The shooting position identification system 1 includes an imaging device 100 , a terminal device 200 and an information provision support device 400 . The imaging device 100, the terminal device 200, and the information provision support device 400 are connected via a network NW.

First, an overview of the photographing position identification system 1 will be described. A photographing position identification system 1 identifies a photographing position from a photographed image photographed within a target range 10 of an existing building 2 . For example, the target range 10 includes part or all of the existing building 2 . Furthermore, the target range 10 may include facilities, fixtures, and the like provided in the building. The approximate position of the target range 10 is determined in advance so that the characteristic points to be marked are included. A photographed image is photographed at a position where the feature point is included in the photographing range. In the following description, the position where the image was taken is called an observation point P. For example, the position of the observation point P is determined at a position where the situation around the observation point P can be easily grasped. In the following description, the observation point P is simply referred to as an observation point. Note that the position in the target range 10 may be identified using an orthogonal coordinate system (X, Y, Z). The surrounding image of the observation point is an image obtained by imaging the imaging device 100 at the observation point, or a set of a plurality of images obtained by imaging at the observation point. For example, the position of the observation point is determined based on the position of the optical system of imaging device 100 . Details of the surrounding image will be described later. The surrounding image of the observation point may be captured by the user U1 operating the imaging device 100, or may be captured by the imaging device 100 at a predetermined timing.

The shooting position specifying system 1 acquires the position of the observation point by using the above-mentioned photographed image as well as a drawing or the like around the observation point. For example, the drawing around the observation point includes a 3D model (hereinafter simply referred to as a 3D model), a two-dimensional drawing (2D drawing), etc., which is converted into data by a processing device such as BIM (Building Information Modeling). good. Hereinafter, a 3D model and a two-dimensional drawing are collectively referred to as a 3D model and the like. The 3D model and the like include information indicating the structure of the building 2 including the target range 10, and the positions of facilities and fixtures arranged in the building 2. FIG.
The shooting position identification system 1 associates the data of the image captured by the imaging device 100 with the 3D model or the like, thereby complementing each piece of information and improving convenience. A case will be exemplified where the position where the image was captured is specified based on both the surrounding image of the observation point and the 3D model.

In this embodiment, the above-described processing is performed by first processing for deriving an angle for estimating an observation point based on the position of the subject in the image, and second processing for deriving the position of the observation point from the derived angle. It is roughly divided into processing.

The first processing includes, for example, a method of deriving the angle between the feature points viewed from the observation point by using a surrounding image projected onto a surface that circles around the (1-1) axis in the circumferential direction; (1-2) A method of deriving the angle from the position of the point in the surrounding image, and (1-3) the position of the point in the image with respect to the surrounding image in which the angle of view of the optical system used at the time of imaging is known. There is a method of deriving the angle from In the method (1-1), the surface that circles around the axis in the circumferential direction may be formed as a virtual structure in the three-dimensional virtual space.

The second processing includes, for example, (2-1) a method of deriving the position of the observation point by using the central angle formed by two points on the circumference of the circle and the center, and (2-2) vector There is a method of deriving the position of the observation point from the angle obtained by using the inner product of .
Details of each method will be described later.

In the present embodiment, the above-mentioned "(1-1) method of deriving the angle using a peripheral image projected onto a surface that circles in the circumferential direction around the axis" and "(2-1) on the circumference of a circle A method of deriving the position of an observation point using a central angle formed by two points and the center” will be described below.

When displaying the surrounding image, the photographing position identification system 1 preferably corrects distortion in the surrounding image by associating the surrounding image with a 3D model or the like. As a method of correcting this distortion, the photographing position specifying system 1 may associate the surrounding image with the image based on the 3D model using the projection plane S common to them. In this case, the shooting position specifying system 1 treats the projection plane S as a virtual structure (hereinafter referred to as a space model M) in a three-dimensional virtual space. A space model M in the three-dimensional virtual space is provided corresponding to an observation point in the real space. The space model M has a virtual plane on which the situation within the visible range from the observation point is projected. The photographing position specifying system 1 can correct the distortion of the image by projecting the situation of the range visible from the observation point onto the plane of the space model M so as to maintain the viewing direction from the observation point.

FIG. 2 is a diagram showing an example of the space model M forming the projection plane S according to the embodiment. For example, the space model M is formed as a hollow sphere and has a projection plane S on its inner surface. The photographing position identification system 1 projects a surrounding image (omnidirectional image) photographed at the position of the observation point onto the inside of the surface of the sphere. By placing the viewpoint at the center C of the sphere, the direction in which the surrounding image projected onto the surface of the sphere is viewed from the center C of the sphere coincides with the direction in which the subject is viewed from the position of the observation point P (Fig. 1) in real space. can be made If the space model M is tilted with respect to the axial direction of the orthogonal coordinate system, the polar direction of the spatial model M should be adjusted to coincide with the axial direction of the orthogonal coordinate system. For example, the information provision support device 400 adjusts the polar direction of the space model M so as to match the Z-axis direction of the orthogonal coordinate system as shown in FIG. For example, after adjusting the inclination of the space model M in this way, the surrounding image may be projected.

In the above description, the surrounding image at the observation point is shown as an example, but the type of information associated with the space model M is not limited to this. The shooting position specifying system 1 may associate various information with the space model M in addition to the surrounding image. For example, the shooting position specifying system 1 forms the space model M as a hollow sphere, and associates various types of information such as collected information with the surface of the sphere. The above collected information is information collected to share the situation around the observation point. The collected information includes image information obtained by imaging the surroundings of the observation point, information of a type different from the image information, and the like. Information different in type from the image information may include, for example, text (character information) indicating the circumstances around the observation point.

In addition to correcting the distortion of the image using the space model M as described above, a method using arithmetic processing without using the space model M may be used. The shooting position specifying system 1 shown in this embodiment exemplifies the case where the space model M is used. The details of this embodiment will be described below.

First, each device related to the photographing position identification system 1 will be described.

[Imaging device]
An example of the configuration of the imaging device 100 will be described. FIG. 3 is a configuration diagram of the imaging device 100 according to the embodiment. The imaging device 100 captures an image of its surroundings and outputs the obtained surrounding image.

The imaging device 100 includes an optical system 111 , an optical system 112 , an imaging section 121 , an imaging section 122 , a signal processing section 130 , a reception section 140 , a control section 150 and an output section 160 .

The optical system 111 and the optical system 112 each form a fish-eye lens, and are capable of photographing at an angle of view of 180 degrees or more. The optical system 111 and the optical system 112 are supported by the housing of the imaging device 100 or the like so that the optical axis of the optical system 111 and the optical axis of the optical system 112 are substantially parallel. The optical axis direction of the optical system 111 and the optical axis direction of the optical system 112 are directed in opposite directions.

The imaging unit 121 is provided so as to be paired with the optical system 111 and images an object (subject) within the range of the angle of view of the optical system 111 . The imaging unit 122 is provided so as to be paired with the optical system 112 and images an object (subject) within the range of the angle of view of the optical system 112 .

The signal processing unit 130 synthesizes the image obtained by imaging by the imaging unit 121 and the image obtained by imaging by the imaging unit 122 to obtain a Generate a composite image, such as an image or an all-around image.

The accepting unit 140 accepts a user's operation of instructing imaging.

The control unit 150 causes the image capturing unit 121 and the image capturing unit 122 to capture an image based on the imaging instruction received by the receiving unit 140 . The control unit 150 controls each imaging unit such that the imaging unit 121 and the imaging unit 122 perform imaging in synchronization with each other. The control unit 150 causes the signal processing unit 130 to generate a composite image based on the results of imaging by the imaging unit 121 and the imaging unit 122 . The control unit 150 causes the output unit 160 to output the composite image generated by the signal processing unit 130 .

For example, the surrounding image output by the imaging device 100 as a composite image preferably includes an omnidirectional image such as an equirectangular projection image or an omnidirectional image. FIG. 4A is a diagram showing an image by equirectangular projection according to the embodiment. The equirectangular projection is a projection method in which the surface of a sphere as shown in FIG. 2 is developed and projected into a rectangle. The latitude and longitude of the sphere are scaled so that they intersect at right angles and at equal intervals within the rectangle. FIG. 4B is a diagram illustrating an example of the image of FIG. 4A drawn inside the surface of a hollow cylinder.

In the embodiment described below, the equirectangular projection image shown in FIG. 4 is projected inside the surface of the sphere as the space model M shown in FIG. FIG. 5 is a diagram showing an example of a state in which the image of FIG. 4A is projected inside the surface of a hollow sphere. This FIG. 5 shows the far side hemisphere in the depth direction of the sphere and omits drawing of the near side hemisphere. As shown in FIG. 5, the image projected inside the surface of the sphere becomes an omnidirectional image when the entire sphere is viewed from the inside of the sphere. That is, by projecting an image captured by the imaging device 100 onto the inside of the surface of the space model M formed as the surface of a hollow sphere, image information indicating the surrounding state of the observation point is arranged on the surface of the sphere. can be obtained. Note that the imaging apparatus 100 outputs a part or all of at least one of the equirectangular projection image and the omnidirectional image. With such an imaging device 100, it is possible to collectively photograph the entire surroundings with one operation, and to photograph the surroundings without omission.

In other words, the imaging apparatus 100 saves the user the trouble of synthesizing the images, and can improve the quality of continuity of the images in the spatial direction. In addition, the imaging device 100 can shorten the time required for imaging by imaging the entire surroundings with one operation. In addition, with the image pickup apparatus 100 as described above, there is no possibility of partial loss due to omission of photographing or the like. Due to these, the work efficiency of the user is enhanced.

In the following description of the embodiments, it is assumed that the imaging device 100 outputs an equirectangular projection image as a surrounding image of the object. The imaging device 100 transmits the surrounding image of the target to the information provision support device 400 .

[Terminal device]
FIG. 6 is a configuration diagram of the terminal device 200 according to the embodiment. The terminal device 200 includes, for example, a CPU 200A, a RAM (Random Access Memory) 200B, a nonvolatile storage device 200C, a portable storage medium drive device 200D, an input/output device 200E, and a communication interface 200F. The terminal device 200 may include any form of processor instead of the CPU 200A, or may omit some of the components shown in FIG.

The CPU 200A expands the program stored in the nonvolatile storage device 200C or the program stored in the portable storage medium attached to the portable storage medium drive device 200D to the RAM 200B and executes the program as described below. Various processing is performed. RAM 200B is used as a working area by CPU 200A. The nonvolatile storage device 200C is, for example, an HDD, flash memory, ROM (Read Only Memory), or the like. A portable storage medium such as a DVD (Digital Versatile Disc), a CD (Compact Disc), an SD card, or the like is attached to the portable storage medium drive device 200D. The input/output device 200E includes, for example, a keyboard, mouse, touch panel, display device, and the like. The communication interface 200</b>F is connected to the network NW and controls communication in the terminal device 200 .

A functional configuration of the terminal device 200 according to the embodiment will be described with reference to FIG. The terminal device 200 includes a reception processing section 211 , a data acquisition section 212 and a display control section 213 . These functional units are implemented by, for example, CPU 200A executing a program. In addition, these functional units may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), etc. It may be realized by

The reception processing unit 211 receives a user's operation detected by the input/output device 200E. For example, the reception processing unit 211 detects an operation of selecting a button or the like on an image displayed by the input/output device 200E and receives it as a user operation. The reception processing unit 211 transmits a request for sharing information to the information provision support apparatus 400 based on the detected user's operation.

The data acquisition unit 212 acquires information transmitted from the information provision support device 400 . The information acquired from the information provision support device 400 includes acquired information corresponding to a specific observation point.

The display control unit 213 generates an image to be displayed on the display unit of the input/output device 200E based on the information transmitted from the information provision support device 400. FIG. For example, the display control unit 213 generates a browsing image based on acquired information corresponding to a specific observation point, and causes the display unit to display it.

Note that the terminal device 200 may realize part or all of the reception processing unit 211, the data acquisition unit 212, and the display control unit 213 using a browser applied to a web system.

[Information provision support device]
FIG. 7 is a hardware configuration diagram of the information provision support device 400 according to the embodiment. The information provision support device 400 includes, for example, a CPU 400A, a RAM 400B, a nonvolatile storage device 400C, a portable storage medium drive device 400D, an input/output device 400E, and a communication interface 400F. The information provision support device 400 may include any form of processor instead of the CPU 400A, or may omit some of the components shown in FIG.

The CPU 400A expands the program stored in the nonvolatile storage device 400C or the program stored in the portable storage medium attached to the portable storage medium drive device 400D to the RAM 400B and executes the program as described below. Various processing is performed. RAM 400B is used as a working area by CPU 400A. The nonvolatile storage device 400C is, for example, an HDD, flash memory, ROM, or the like. A portable storage medium such as a DVD, a CD, or an SD card is installed in the portable storage medium drive device 400D. The input/output device 400E includes, for example, a keyboard, mouse, touch panel, and display device. The communication interface 400</b>F is connected to the network NW and controls communication in the information provision support device 400 . Note that the communication interface 400F may have a function as a web server applied to the web system.

FIG. 8 is a functional configuration diagram of the information provision support device 400 according to the embodiment. Information provision support device 400 includes storage unit 410 and control unit 420 .

The storage unit 410 is a storage area provided in the RAM 400B or the nonvolatile storage device 400C. The storage unit 410 may be realized by an external storage device such as a NAS device that can be accessed from the information provision support device 400 .

The storage unit 410 stores information such as space model information 411 , collection information 412 , and expected position information 413 .

The spatial model information 411 includes information for identifying the spatial model M provided for each observation point and specifying its position.

The collected information 412 includes an image of the surroundings of the observation point in real space, data obtained by digitizing the building 2 as a 3D model, various drawings related to the building 2, and the like. For example, data obtained by digitizing the building 2 as a 3D model includes data such as a structural drawing of the building 2 .

FIG. 9 is a diagram showing an example of displaying a three-dimensional virtual space according to the embodiment. FIG. 9 shows a bird's-eye view of the three-dimensional virtual space corresponding to the target range 10. As shown in FIG. For example, as shown in FIG. 9, the information included in the 3D model does not necessarily include information indicating the configuration of windows, devices, etc. provided on the wall surface. Identifiable information should be included.
The various drawings related to the building 2 include some or all of the various drawings (two-dimensional drawings, etc.) showing the structural drawing of the building 2, the floor plan of each floor, the facility layout, the piping diagram, etc. in two-dimensional information. be A two-dimensional drawing or the like may also include information that allows the approximate positions of the members that make up the building 2 to be identified.

Returning to FIG. 8 described above, the expected position information 413 includes information indicating the position from which the projection plane S of the space model M is expected.

The control unit 420 will be explained. Control unit 420 includes designation information acquisition unit 421 , surrounding image acquisition unit 422 , display control unit 423 , position derivation unit 424 , and output processing unit 427 . The specified information acquisition unit 421 and the surrounding image acquisition unit 422 are examples of acquisition units.

The designated information acquisition unit 421 acquires from the terminal device 200 the detection result of the user's operation in the terminal device 200 . The specified information acquisition unit 421 adds the information acquired from the terminal device 200 to the collected information 412 in the storage unit 410 .

The ambient image acquisition unit 422 acquires the ambient image of the observation point in the real space, a drawing showing the state of the real space, and the like, and similarly adds them to the collected information 412 .

The designated information acquisition unit 421 and the surrounding image acquisition unit 422 acquire surrounding images (such as omnidirectional images) that indicate the surroundings of the observation point in real space.

The display control unit 423 generates an image to be displayed on the terminal device 200 . For example, the information provision support device 400 collects image data captured by the imaging device 100, and the display control unit 423 generates an all-surrounding image based on the collected image data.

The three-dimensional virtual space corresponding to the observation point is a virtual three-dimensional space for arranging the "space model M (FIG. 2)" corresponding to the observation point.
The projection plane S provided around the reference point R includes at least a part of the inner surface of the surface of the hollow sphere or the inner surface of the side surface of the hollow cylinder arranged with reference to the reference point R. . In the following description, it is assumed that the projection plane S provided around the reference point R forms the inner surface of the hollow sphere.

The display control unit 423 associates the surrounding image projected onto the projection plane S (see FIG. 5) with the virtual space image showing the virtual structure in the three-dimensional virtual space. The display control unit 423 generates a display image including an area common to the display area for displaying the surrounding image and the display area for displaying the virtual space image in the associated surrounding image and virtual space image. good too.
Note that the above-mentioned common area is, for example, a part of the target range 10 and includes an object to be examined, verified, etc. based on the display image.

The display control unit 423 determines the position based on the position of the reference point R or the position from which the projection plane S is viewed, and displays the virtual structure based on the virtual structure so that the virtual structure viewed from the determined position is shown in the virtual space image. An image may be generated. The display control unit 423 adjusts in advance three relative positional relationships among the space model M, the surrounding image, and the virtual space image. The adjustment method includes the following. For example, as a first adjustment method, the display control unit 423 adjusts the position of the surrounding image with respect to the space model M, and then adjusts the direction of the space model M with respect to the three-dimensional virtual space. Alternatively, as a second adjustment method, the display control unit 423 adjusts the position with respect to the space model M independently of the surrounding image and the virtual space image. As a third adjustment method, the display control unit 423 first adjusts the relative positions of the surrounding image and the virtual space image, and then adjusts the position with respect to the space model M collectively. By performing any of these operations, the display control unit 423 moves the surrounding image along the projection plane S, and at least adjusts the direction of the representative point of the surrounding image in the three-dimensional virtual space.
After adjusting the three relative positional relationships among the space model M, the surrounding image, and the virtual space image, the display control unit 423 adjusts the range extracted from the surrounding image and the range extracted from the virtual space image. A display image including the range to be displayed may be generated.

The output processing unit 427 outputs desired information for the request to the terminal device 200 in response to the request from the terminal device 200 .

FIG. 10 is a diagram illustrating processing for processing a surrounding image according to the embodiment. For example, the position derivation unit 424 acquires the radius r of the target space model M from the space model information 411, and calculates the length L1 in the direction perpendicular to the drawing direction of the equirectangular projection as is adjusted to be half the circumference (πr). The position derivation unit 424 adjusts the length L2 in the drawing direction of the equirectangular projection to be (2πr−Δ) of the circumference of the space model M. FIG. Δ indicates a very small amount near zero. If this is expressed in terms of angle, it becomes (360 degrees - δ) from 0 degrees. δ indicates a minute angle near zero.

FIG. 11 is a flowchart illustrating an example of processing for deriving the position of an observation point according to the embodiment; An image of the site is captured by the imaging device 100 in advance. The surrounding image acquisition unit 422 acquires an image from the imaging device 100 and adds it to the collected information 412 as a surrounding image.

3D data and the like are stored in the collected information 412 . In the present embodiment, the 3D data or the like only needs to include the minimum information of the existing elements (existing objects) required for specifying the observation point. For example, for the purpose of arranging information about the interior of a room or the like, information indicating the shape of the room may be input. For example, by showing the inner wall surface, ceiling surface, and floor surface in a two-dimensional drawing (2D drawing) in which three-dimensional information is not clearly shown in the drawing, the shape of the room can be indicated by a plan view or an elevation view. Information such as windows and equipment provided in the room is not essential information. These pieces of information are complemented by a process of superimposing images, which will be described later.

First, the position derivation unit 424 determines feature points from the image of the building 2 in the surrounding image (S111). For example, the position derivation unit 424 determines a structure having a vertical shape in the real space, such as a pillar, a corner of a wall surface (internal corner, external corner), etc., as the target feature point.
Next, the position deriving unit 424 extracts two or more pairs of feature points (S112).

Next, the position derivation unit 424 selects points corresponding to the set of feature points extracted in S112, and arranges them on the circumference shown in FIG. 12 (S113). For example, the extracted sets of feature points are four points, point A', point B', point C', and point D' shown in the image of FIG. FIG. 12 is a plan view of the equirectangular projection according to the embodiment rolled into a cylinder and viewed from the direction along the axis. The above four points are arranged clockwise on the circle shown in FIG. 12 in the order of notation. Here, the position of the axis of the cylinder is indicated by point O'. As shown in FIG. 12, the angle formed by ∠A'O'B' is ∠a, the angle formed by ∠B'O'C' is ∠b, and the angle formed by ∠C'O'D' is ∠c. and the angle formed by ∠D'O'A' is ∠d. The position deriving unit 424 derives a central angle corresponding to a set of adjacently arranged feature points using the cylindrically rounded equirectangular projection (S114). Each of the above ∠a, ∠b, ∠c, and ∠d is an example of the central angle.

The target range 10 of the building 2 will be described with reference to FIG. FIG. 13 is a plan view of the target range 10 (FIG. 9) of the building 2 according to the embodiment. This plan view may be generated by simply viewing the 3D CAD data. The position derivation unit 424 determines four points on the reference plane respectively corresponding to the feature points (S115). For example, four points A', B', C', and D' shown in FIG. 12 are selected in S112. Points A, B, C, and D in FIG. 13 are determined as points corresponding to these points. These points may be determined based on a user's operation or the like.

Processing for deriving the position of the observation point will be described with reference to FIG. FIG. 14 is a diagram showing the process of deriving the position of the observation point. The position derivation unit 424 uses the four points A', B', C', and D' selected in S112 and the five points O' indicating the position of the axis, for example, The position derivation unit 424 uses the central angle to extract points where the circumference angle formed by two points adjacent to each other on the circumference of the circle and the center (point O') matches the above-mentioned central angle. The method derives the observation points.

For example, the position derivation unit 424 derives a trajectory of points where the angle formed by ∠AOB matches ∠a (the value of ∠A'O'B') based on the pair of points A and B, and is drawn (S116). The above trajectory is the first circular arc (circumference) including points A and B, and is a set of points whose circumference angle from points A and B is ∠AOB.

Next, the position derivation unit 424 selects a pair different from the pair of points A and B. FIG. For example, the position derivation unit 424 selects a pair of points C and D. The position derivation unit 424 derives a locus of points where the angle formed by ∠COD matches ∠c (the value of ∠C'O'D') based on the pair of points C and D. The above trajectory is a second arc (circumference) containing points C and D.

Next, the position derivation unit 424 selects a set different from the above two sets. For example, the position derivation unit 424 selects a pair of points B and C. The position derivation unit 424 derives the trajectory of points where the angle formed by ∠BOC matches ∠b (the value of ∠B'O'C') based on the pair of points B and C. The above trajectory is the third arc (circumference) containing points B and C.

Next, the position derivation unit 424 includes an observation point at the intersection of the two trajectories derived by the above process. For example, if the intersection point of the two trajectories derived by the above process is determined to be one point, the position of that point may be the position of the observation point.
Alternatively, the position derivation unit 424 selects a point where the three trajectories intersect, and sets the position of that point as the position of the observation point. Through the above processing, the position derivation unit 424 writes the derived position of the observation point into the space model information 411 .

Through the above processing, the position derivation unit 424 derives the position of the observation point.

As for the method of deriving the position of the point O from the central angle, a method other than the above may be used.
For example, the position derivation unit 424 calculates the point from each point (for example, point A and point B) on the reference plane based on the central angle formed by each point (for example, point A' and point B') on the circumference and point O'. An angle to look at O may be derived to estimate the position of the observation point.

Note that the position derivation unit 424 may set the height of the observation point to, for example, a predetermined value.

According to the above-described embodiment, the position derivation unit 424 of the shooting position specifying system calculates the position from a combination of points spaced apart in the first direction (long side direction) of the directions along the surface of the surrounding image. A plurality of pairs are extracted, and the positions of two points of the first pair (for example, point A′ and point B′) and two points of the second pair (for example, point C′ and point D′) among the plurality of pairs , and the positions of points on the reference plane (e.g., points A, B, C, and D) corresponding to the first set of two points and the second set of two points, respectively. and a position deriving unit 424 for deriving the position on the reference plane to which the observation point is located, the situation around the position of the observation point can be shared by a simpler method.

In addition, the position derivation unit 424 derives an angle based on the positions of the two points of the first set and the two points of the second set, and the reference angles corresponding to the two points of the first set and the two points of the second set, respectively. A position on the reference plane corresponding to the observation point is derived based on the position of the point on the plane and the derived angle.

Note that the first direction may be the circumferential direction of the surface that makes a circuit around the axis, and the position deriving unit associates the surrounding image with the surface that makes a circuit. A surface that circles around the axis in the circumferential direction may be a surface of a concentric structure formed on the basis of the axis, or may be a surface that is not equidistant from the axis. The position derivation unit 424 projects the ambient image onto the surfaces of the concentric structures or planes that are not equidistant from the axis. It should be noted that the surface that circles around the axis in the circumferential direction may be a side surface of a cylinder centered on the axis.

Further, according to the above-described embodiment, the imaging position specifying system projects the surrounding image onto the surface of the cylinder (concentric structure) formed with the axis as a reference, and the projected surrounding image is developed and extended in the direction of extension. A plurality of sets are generated by combining points at different positions, and two points of the first set (for example, point A' and point B') among the sets are projected onto a reference plane normal to the axial direction of the cylinder. Then, a first angle (eg, ∠ a), and a second set of two points different from the first set (for example, point C' and point D') are projected onto a plane perpendicular to the axis of the tube, and the Depending on the second angle (eg, ∠c) looking at two points (eg, point C' and point D') projected from the second set of two points from the position of the axis on the surface (eg, point O') and the positions of points on the reference plane (for example, points A, B, C, and D) corresponding to the first set of two points and the second set of two points, respectively; , the position of the axis on the reference plane is derived. As a result, by adding the situation around the position of a certain observation point to the information of the three-dimensional CAD by a simpler method, the situation around the position of the observation point can be shared.

(Modification 1 of the first embodiment)
Modification 1 of the first embodiment will be described. In the first embodiment, the two points of the first set are four points that are different from each other. Of the two points in the first set, one point may be different and one point may be shared. In this case, the position of the observation point can be derived by performing the above processing using a total of three points included in the first set and the second set.

(Modification 2 of the first embodiment)
Modification 2 of the first embodiment will be described. In the first embodiment, the case where the surrounding image by the equirectangular projection is rounded into a cylinder and processed is exemplified, but instead of this, the surrounding image formed as a sphere is processed. Illustrate the case. The description will focus on differences from the first embodiment.

The position derivation unit 424 targets the omnidirectional image shown in FIG. 5 and selects the same feature points as in the first embodiment in the omnidirectional image. The position deriving unit 424 extends a line passing through this point in the polar direction along the circumference of the sphere.

The position derivation unit 424 can obtain a diagram similar to FIG. 12 by projecting this sphere onto a reference plane perpendicular to the axis. Processing following the processing described with reference to FIG. 13 is the same as in the first embodiment. In this way, the surface that circles around the axis in the circumferential direction may be a spherical surface centered on the axis.

According to this modified example, the image to be processed can be a omnidirectional image, in addition to the effects common to those of the first embodiment.

(Modification 3 of the first embodiment)
Modification 3 of the first embodiment will be described. In the first embodiment, the imaging device 100 captures an image based on equirectangular projection or a omnidirectional image as a surrounding image, and the information provision support device 400 does not require a synthesis process for generating the surrounding image. explained. Instead of this, in this modified example, the information provision support device 400 synthesizes a plurality of images supplied from the imaging device 100 to perform synthesizing processing for generating a surrounding image. The description will focus on differences from the first embodiment.

The imaging device 100 of the embodiment uses a super-wide-angle lens, a wide-angle lens, a standard lens, and the like. A lens such as a super-wide-angle lens, a wide-angle lens, or a standard lens has a narrower angle of view than the fish-eye lens shown in the first embodiment. When the entire surroundings are photographed using a super-wide-angle lens, a wide-angle lens, and a standard lens, the entire surroundings are divided into three or more and photographed. The information provision support device 400 acquires images captured by dividing the entire surroundings into three or more pluralities, and performs synthesis processing of combining these images.

FIG. 15 is a diagram for explaining processing for synthesizing a plurality of images according to the embodiment;

For example, the imaging apparatus 100 captures an image using an ultra-wide-angle lens having an angle of view of 90 degrees or more and less than 180 degrees. The imaging device 100 directs the optical axis in the positive and negative directions of the XC axis, the positive and negative directions of the YC axis, and the positive and negative directions of the ZC axis, and takes a total of six images. The XC axis, YC axis, and ZC axis are orthogonal coordinates with the point C as the origin. The imaging apparatus 100 may add information regarding the direction of the optical axis at the time of imaging and the orientation of the image to each of the images. The imaging device 100 supplies each of the above images to the information provision support device 400 . The information provision support device 400 adds the acquired image to the collected information 412 as a omnidirectional image.

The information provision support device 400 arranges the obtained images as shown in the figure, centering on the point C corresponding to the observation point.

For example, an image in the positive direction and an image in the negative direction of the XC axis are arranged so as to be orthogonal to the XC axis, and their positions are in the positive and negative directions of the XC axis. For example, the positive and negative values of the XC axis that determine the position are made equal in absolute value. In other words, the image in the positive direction and the image in the negative direction of the XC axis are arranged at positions at equal distances from point C. FIG. The image corresponding to the YC axis and the image corresponding to the ZC axis are also the same as the image corresponding to the XC axis.

By arranging the six images as described above, a cube surrounding point C is formed. For example, the information provision support device 400 projects an image drawn inside each face of the cube onto the inside of the surface of the sphere as the space model M. FIG. As a result, the information provision support device 400 generates an all-surrounding image projected onto the space model M. FIG.

According to the above-described embodiment, it is possible to combine a plurality of images supplied from the imaging device 100 to generate a surrounding image, in addition to achieving the same effects as the first embodiment.

It is important to manage the position of the image pickup device 100 and accurately orient the optical axis direction when photographing by the above method. For example, the imaging apparatus 100 accurately orients the direction of the optical axis in the direction of the reference coordinate axis when capturing each of the above images, so that the position at the time of capturing does not deviate from the position of the origin of the reference coordinate axis. It is better to

(Modification 4 of the first embodiment)
Modification 4 of the first embodiment will be described. In Modified Example 3 of the first embodiment, the information provision support device 400 synthesizes a plurality of images supplied from the imaging device 100 to perform synthesis processing for generating a surrounding image. Instead of this, a case of deriving an angle at which a feature point in an image is expected from one image supplied from the imaging device 100 without performing the combining process will be exemplified. In other words, this modified example exemplifies "(1-3) a method of deriving an angle from the position of a point in the image with respect to a surrounding image in which the angle of view of the optical system used at the time of imaging is known". . The description will focus on differences from the third modification of the first embodiment.

The imaging device 100 of the embodiment uses a super-wide-angle lens, a wide-angle lens, a standard lens, and the like. The imaging device 100 uses the lens described above to capture an image of a vertical wall surface of an object from its normal direction. The information provision support device 400 acquires the captured image. In the following description, it is assumed that the composition processing is not performed, but it is not intended to limit the execution of the composition processing.

FIG. 16 is a diagram for explaining processing for deriving an angle according to this modification.

For example, the imaging device 100 captures a wall surface of an object using an image captured using a wide-angle lens. FIG. 16(a) shows an example of a captured image, and FIG. 16(b) shows a plan view for explaining the processing.

The center of the image shown in FIG. 16(a) coincides with the direction of the optical axis of the lens. Suppose the focal length of the lens is known. That is, the angle of view (horizontal angle of view) corresponding to the range indicated by the image shown in this figure is clear. It is assumed that the interval l between feature points and the width L in the long side direction of the image are known from this image.

The distance between the feature point on the right side of the screen and the center of the screen is l1, and the direction of the feature point deviates to the right from the center of the screen by an angle θ1. The distance between the feature point on the left side of the screen and the center of the screen is l2, and the direction of the feature point deviates to the left from the center of the screen by an angle θ2. The interval l between feature points corresponds to the sum of the above distance l1 and distance l2, as shown in equation (1).

l=l1+l2 (1)

Note that l1 and l2 may have different values. The relationship between the horizontal length L (the length in the long side direction) of the image, the horizontal angle of view θ, the distances (l1, l2) of the feature points, and their directions (θ1 and θ2) is given by equation (2). to organize.

A(tan θ1+tan θ2)/2A tan(θ/2)=(l1+l2)/L
... (2)

In the above formula (2), A is the radius of a sphere drawn with the observation point as the center and in contact with the screen. Rearranging the subtraction (2) yields the equation (3).

tan θ1 = (2l1/L) tan (θ/2)
tan θ2 = (2l2/L) tan (θ/2)
... (3)

θ1 and θ2 are derived from Equation (3) above, and the angle θ at which the feature point is expected from the position of the observation point is derived according to Equation (4).

θ=θ1+θ2 (4)

The second process for deriving the position of the observation point from the derived angle θ can use any method, for example, applying the method (2-1) shown in the first embodiment. may be used, and other treatments may be applied.

According to this modified example, the peripheral image of the object does not have to be formed as an image that circles around the observation point, which is an effect common to the third embodiment of the first embodiment. In addition to this, this modification can arithmetically derive the angle indicating the direction of the feature point without combining the images.

(Second embodiment)
A second embodiment will be described. In the first embodiment, the above-mentioned "(1-1) method of deriving the angle using a peripheral image projected onto a surface that circles in the circumferential direction around the axis" and "(2-1) two points A method of deriving the position of an observation point using the circumference angle of a passing circle”. Instead of this, in the present embodiment, the above "(1-2) method of deriving the angle from the position of the point in the surrounding image without using a surface that circles around the axis in the circumferential direction" and ( 2-2) A method of deriving the position of the observation point from the angle obtained by using the inner product of vectors”, and the explanation will focus on the differences from the first embodiment.

17 is a flowchart illustrating an example of processing for deriving the position of an observation point according to the embodiment; FIG.

First, the position derivation unit 424 determines feature points from the image of the building 2 in the surrounding image (S171).

Next, the position derivation unit 424 determines and selects feature points from the image of the building 2 in the surrounding image (S172). For example, the selected feature points are four points, point A', point B', point C', and point D'.

Next, the position derivation unit 424 derives the interval in the long side direction of the image of each point, which is the feature point, based on the positions of the points A', B', C', and D'. (S173). The position derivation unit 424 calculates angles (∠a, ∠b, ∠c, ∠d) in FIG. ) is derived (S174). For example, as shown in FIG. 10, the distance between points A' and B' in the long side direction of the image is the length of A'B'. As shown in equation (5), ∠a can be obtained from the ratio of the length of A'B' to L2.

∠a=(360×A'B')/L2 (5)

∠b and ∠c can also be found in the same way.

Next, the position derivation unit 424 derives the position of the point X that satisfies the following condition using the angle derived from the position of the point in the surrounding image (S175). The following conditions are selected from points on the reference plane corresponding to points A′, B′, C′, and D′ in FIG. 12 (for example, points A, B, C, and D). The angle formed by the two points and the other point X must match the angle derived in S174.

For example, the position derivation unit 424 selects two points from point A, point B, point C, and point D in FIG. Based on the selected two points (for example, points A and B) and the point X, the position of the point X where ∠AXB becomes ∠a is derived. The point X that satisfies the position derived here is the point X that satisfies the condition 1. For example, the above angle is obtained by calculating the inner product of vector AX and vector BX.

Similarly, the position derivation unit 424 derives the position of the point X at which ∠CXD becomes ∠c, based on the selected two points (for example, points C and D) and the point X. The point X that satisfies the position derived here is the point X that satisfies the condition 2.

Next, the position derivation unit 424 derives the point X that satisfies the conditions 1 and 2. FIG. The position of the point X contains the position of the observation point. However, if the position of the observation point cannot be uniquely determined, by combining other conditions, the position of the observation point can be uniquely identified from among the above derived positions. For example, the position derivation unit 424 adds a condition 3 that performs the same processing as above based on the selected two points (for example, points B and C) and the point X as the other conditions. The position derivation unit 424 derives the point X that satisfies the conditions 1, 2, and 3, and sets the position of the point X as the position of the observation point.

According to the above embodiment, the position derivation unit 424 of the shooting position specifying system is arranged at a distance in the first direction (long side direction) of the directions along the surface of the surrounding image. A plurality of pairs are extracted from the combination of points, and among the plurality of pairs, two points of the first set (for example, point A ', point B ') and two points of the second set (for example, point C ', point D') and the positions of points on the reference plane (e.g., points A, B, C, and D) corresponding to the first set of two points and the second set of two points, respectively. and a position deriving unit 424 for deriving the position on the reference plane corresponding to the observation point, the situation around the position of the observation point can be shared in a simpler manner. Note that the position of the observation point may be included in the position derived as described above.

(Modification 1 of the second embodiment)
Modification 1 of the second embodiment will be described. In the second embodiment, the case of processing a total of four points is exemplified. As shown in this modification in the second embodiment, as in modification 1 of the first embodiment, two points in the second set are Different and one point may be shared. For example, the position derivation unit 424 processes a total of three points, point A', point B', and point C'.

In this case, the position derivation unit 424 derives ∠a and ∠b in FIG.

The position deriving unit 424 derives the position of the point X, which is different from the above points, based on the positions of the points A, B, and C in FIG. 13 and the angles derived above, for example. Thereafter, the same processing as in the second embodiment is performed.

According to this modified example, by using the condition that one point is shared, one point X that satisfies two conditions is determined. , can simplify the process.

(Modification 2 of the second embodiment)
Modification 2 of the second embodiment will be described. Also in the second embodiment, as shown in this modification, an all-surrounding image formed as a sphere may be processed as in modification 2 of the first embodiment.

According to this modified example, the image to be processed can be a omnidirectional image, in addition to the effects common to those of the second embodiment.

(Modification 3 of the second embodiment)
Modification 3 of the second embodiment will be described. As shown in this modification, in the second embodiment as well, similar to modification 3 of the first embodiment, a plurality of images supplied from the imaging device 100 are combined to process the surrounding image. You can target it.

According to the above-described embodiment, it is possible to combine a plurality of images supplied from the imaging device 100 to generate a surrounding image, in addition to the effects common to those of the second embodiment.

(Third embodiment)
A third embodiment will be described. In the first and second embodiments, the process of deriving the position of the observation point on the horizontal plane (reference plane) has been exemplified. Instead of this, the present embodiment exemplifies processing for deriving the height of the observation point from the reference plane. For example, the reference surface is a visible floor surface, ceiling surface, or the like. Although differences from the first embodiment will be mainly described, application of a method similar to that of the first embodiment is not limited.

The position derivation unit 424 of this embodiment uses a vertical surface such as a wall surface in the process of deriving the height from the reference surface. The vertical plane in this embodiment replaces the reference plane in the first embodiment.
The omnidirectional image in this embodiment is, for example, an equirectangular projection image, and the direction of its short side is perpendicular to the vertical direction. Furthermore, the position derivation unit 424 determines the direction of the short side to be parallel to the vertical plane.
The position derivation unit 424 derives the position of the observation point based on the position of the point on the vertical plane and the position of the point selected on the omnidirectional image.
Derivation of the position of the observation point described above may be, for example, the same as the derivation method in the first embodiment.

According to the above embodiment, as an effect similar to that of the first embodiment, the vertical position of the observation point, that is, the height is derived, and the situation around the vertical position of the observation point is shared. can be done.

Derivation of the height of the observation point is not limited to the method of this embodiment, and may be derived using the methods shown in the first and second embodiments and their modifications.

(Fourth embodiment)
A fourth embodiment will be described. In the third embodiment, the case of deriving the height is exemplified by the same method as in the first embodiment. Instead of this, in this modified example, a method of deriving the height of the observation point on the condition that the position of the observation point in the horizontal direction has already been determined based on the results of the first or second embodiment is adopted. Illustrate.

FIG. 18 is an elevation view showing an observation point, a floor surface and a wall.

Already the horizontal position of the observation point is fixed and the distance w of the observation point from the wall is known. The depression angle ψ when viewing the boundary between the floor and the wall from the observation point is clear from the length of the surrounding image in the direction of the short side. That is, the position derivation unit 424 derives the height h of the observation point according to Equation (6).

h=wtan ψ (6)

According to the above embodiment, when the position of the observation point in the horizontal direction has already been determined, the same effects as those of the third embodiment can be obtained. Also, by being implemented after the first or second embodiment, in addition to the horizontal position of the observation point, its height can also be derived.

(Fifth embodiment)
A fifth embodiment will be described. The first and second embodiments have exemplified the process of deriving the position of the observation point in the horizontal direction. The third and fourth embodiments have exemplified the process of deriving the position of the observation point in the vertical direction. Instead of this, the present embodiment exemplifies processing for deriving the position of the observation point in a three-dimensional space defined on the basis of the reference plane.
For example, two types of equirectangular projection images are generated from one omnidirectional image.
It is assumed that the direction of the short side of the first image is the vertical direction. Furthermore, the direction of the short side should be parallel to the reference plane.
It is assumed that the direction of the short side of the second image is orthogonal to the vertical direction. Furthermore, the direction of the short side should be parallel to the vertical plane.
The position deriving unit 424 derives the position of the observation point in the horizontal direction on the reference plane based on the first image by the method of the first or second embodiment, and based on the second image, , the height with respect to the reference plane is derived by the method of the third embodiment. The position deriving unit 424 derives the position of the observation point in the three-dimensional space with reference to the reference plane, based on the derived horizontal position on the reference plane and the height with respect to the reference plane.

According to the above embodiment, in addition to the effects common to the first embodiment, the position of the observation point in the three-dimensional space is derived by deriving the height of the observation point, and the surroundings of the observation point are calculated. can share the status of
In addition, in the above embodiment, an example of using the technique of the third embodiment is illustrated, but instead of this, the technique of the fourth embodiment may be used.

According to at least one of the above-described embodiments, the photographing position identification system 1 includes a real image acquisition unit (designation information acquisition unit 421 and surrounding image acquisition unit 422) and a combination of points spaced apart in a first direction (peripheral direction or long side direction) among directions along the surface of the surrounding image, and Based on the positions of the first set of two points and the second set of two points, and the positions of the points on the reference plane corresponding to the first set of two points and the second set of two points, respectively, By providing a position deriving unit 424 for deriving the corresponding position on the reference plane, the situation around a certain position can be shared in a simpler manner.

Further, according to the above-described embodiment, the structural drawing showing the building 2 and the like may be general information as long as the positions of points on the drawing (reference plane) can be identified. As a result, the user can derive the position of the observation point only by drawing the minimum information required to specify the position of the observation point.

Further, according to the above embodiment, the information provision support device 400 acquires the actual state of the real space as an image captured in the real space. By providing an image in which the image is superimposed on the 3D model by the information provision support device 400, the user can reduce oversight and prejudice of the actual state compared to the information only as a result of modeling as the 3D model.

Furthermore, by specifying the position at the time of shooting and creating a perspective view from the image, it is possible to provide intuitively understandable information. In particular, it is effective when there is an existing object within the target range 10 and the relationship between the new planned object and the existing object is indicated. According to the perspective view above, the interference between the plan (new construction) and the existing construction becomes clear. Also, the above perspective view provides the user with necessary information for examining the state after removal even when the existing object is removed.

Furthermore, the above perspective view is suitable as an explanatory material for showing the above relationship to the administrator, user, etc. of the target range 10 . It becomes easier for the participants of the briefing session who receive the explanations from managers, users, etc., to understand the explanations, and to be easily convinced by the explanations. In addition, it becomes easier for the participants of the briefing to participate in questions and discussions, and it becomes easier to improve the design based on the opinions of the participants of the briefing obtained on the spot.

Further, according to the above-described embodiment, it is possible to obtain accurate information of the target range 10 without omission by a simple operation of capturing an image of the target range 10 with the imaging device 100 .
As a comparative example for the imaging device 100, a laser scanner is known that acquires the site situation as point group information. The shooting position specifying system 1 can easily obtain necessary information by using the imaging device 100 without using a special device such as a laser scanner when acquiring the situation of a wall surface or the like. can be done. Note that the photographing position identification system 1 provides simple work as described above, and may be applied to maintenance work.

In addition to maintenance work, the shooting position specifying system 1 can be applied to work and applications other than design work, supervision work, and management work for the building 2 .

Although the embodiments of the present invention have been described above, the imaging position specifying system 1 shown in FIG. 1 has a computer system inside. A series of processes related to the above-described processes are stored in a computer-readable storage medium in the form of a program, and the above processes are performed by reading and executing this program by a computer. Here, computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, and the like. Alternatively, the computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program. In addition, the term "computer system" as used herein includes an OS and the like.

Although one embodiment of the present invention has been described above, the embodiment of the present invention is not limited to the above. For example, the methods exemplified in each embodiment and its modifications may be combined in combinations other than the exemplified combinations. Moreover, the embodiment of the present invention can be, for example, the above-described embodiment modified as follows.
For example, in the above embodiments, the photographing position identification system 1 was divided into the imaging device 100, the terminal device 200, and the information provision support device 400 for convenience of explanation of the configuration related to the present invention. The division of the imaging device 100, the terminal device 200, and the information provision support device 400 may be changed from the one exemplified above, and each device may be integrated. Also, a part of the configuration included in each device may be included in the configuration of another device. Furthermore, the information provision support device 400 may include a function as BIM.

In the above-described embodiment, the method of using the image of the real space captured by the imaging device 100 is exemplified. may be used.

Note that the shooting position specifying system 1 can be applied to tasks and uses other than design work and management work for the building 2 .

1 shooting position identification system 100 imaging device 200 terminal device 400 information provision support device 410 storage unit 411 space model information 412 collection information 413 expected position information 414 integration information 420 control unit 421 designation information acquisition Section 422 Surrounding Image Acquisition Section 423 Display Control Section 424 Position Derivation Section 426 Integration Processing Control Section 427 Output Processing Section.

Claims (7)

a real image acquisition unit that acquires an all-surrounding image as a surrounding image that shows the situation around the observation point in real space by projecting onto a spherical surface;
extracting a plurality of sets from a combination of points arranged at a distance in a first horizontal direction out of directions along the spherical surface of the surrounding image; and the positions of the second set of two points, and the positions of the points on the reference plane corresponding to the first set of two points and the second set of two points, respectively. a position derivation unit that derives a position on the reference plane;
with
The position derivation unit
With respect to a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image and an orthogonal coordinate system having an axis extending vertically from the origin, the polar direction of the polar coordinate system and the orthogonal coordinate system Adjusting the inclination so that the vertical direction matches, and projecting the surrounding image onto the spherical surface after the adjustment ,
The position corresponding to the observation point is associated with the origin of the polar coordinate system, and the position corresponding to the observation point is defined as a position on the reference plane including the horizontal axis in the orthogonal coordinate system and the reference plane. shown using the height from and
Based on the position corresponding to the observation point, it is possible to associate collected information indicating the surrounding situation of the observation point with a predetermined position on the spherical surface.
Filming localization system. The position derivation unit
Deriving an angle based on the positions of the first set of two points and the second set of two points, and points on the reference plane corresponding to the first set of two points and the second set of two points, respectively Deriving a position on the reference plane corresponding to the observation point based on the position and the angle of
The photographing position specifying system according to claim 1. The position derivation unit
The first direction is a circumferential direction of the spherical surface that makes a round around an axis, and the surrounding image is associated with the spherical surface that makes a round.
The imaging position specifying system according to claim 1 or 2. The position derivation unit
4. The imaging position specifying system according to any one of claims 1 to 3 , wherein one of the two points of the first set and one of the two points of the second set are shared. The position derivation unit
projecting the ambient image onto the spherical surface, which is the inner surface of the sphere ;
The photographing position specifying system according to claim 1 . a step of acquiring an all-surrounding image as a surrounding image showing the situation around the observation point in real space by projecting onto a spherical surface;
extracting a plurality of sets from a combination of points arranged at a distance in a first horizontal direction out of directions along the spherical surface of the surrounding image; and the positions of the second set of two points, and the positions of the points on the reference plane corresponding to the first set of two points and the second set of two points, respectively. deriving a position on the reference plane;
With respect to a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image and an orthogonal coordinate system having an axis extending vertically from the origin, the polar direction of the polar coordinate system and the orthogonal coordinate system Adjusting the inclination so that the vertical direction matches, and projecting the surrounding image onto the spherical surface after the adjustment ,
The position corresponding to the observation point is associated with the origin of the polar coordinate system, and the position corresponding to the observation point is defined as a position on the reference plane including the horizontal axis in the orthogonal coordinate system and the reference plane. shown using the height from and
and making it possible to associate collected information indicating a situation around the observation point with a predetermined position on the spherical surface with reference to the position corresponding to the observation point . a step of acquiring an all-surrounding image as a surrounding image showing the situation around the observation point in real space by projecting onto a spherical surface;
extracting a plurality of sets from a combination of points arranged at a distance in a first horizontal direction out of directions along the spherical surface of the surrounding image; and the positions of the second set of two points, and the positions of the points on the reference plane corresponding to the first set of two points and the second set of two points, respectively. deriving a position on the reference plane;
With respect to a polar coordinate system based on the center of a sphere having a spherical surface for projecting the surrounding image and an orthogonal coordinate system having an axis extending vertically from the origin, the polar direction of the polar coordinate system and the orthogonal coordinate system Adjusting the inclination so that the vertical direction matches, and projecting the surrounding image onto the spherical surface after the adjustment ,
The position corresponding to the observation point is associated with the origin of the polar coordinate system, and the position corresponding to the observation point is defined as a position on the reference plane including the horizontal axis in the orthogonal coordinate system and the reference plane. shown using the height from and
A program for causing a computer to execute the step of enabling a predetermined position on the spherical surface to correspond to the collected information indicating the surrounding situation of the observation point, with reference to the position corresponding to the observation point .

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