JP7285678B2 - Information processing device and control program - Google Patents

Description

The present invention relates to an information processing device and a control program.

2. Description of the Related Art Conventionally, a three-dimensional surveying instrument such as a laser scanner is known that measures a distance to a surveying target by irradiating the surveying target with laser light and observing the reflected laser light. A three-dimensional surveying instrument is used for topographical surveying for surveying the elevation value of topography and features. For example, in order to manage a river embankment, a river administrator or the like periodically measures the shape of the river embankment using a three-dimensional surveying instrument and investigates the deformation of the river embankment.

A three-dimensional surveying instrument is mounted on a moving object such as an unmanned or manned aircraft or vehicle, and obtains three-dimensional observation data including distances to terrain and features by measuring distances according to the progress of the moving object. Then, based on the obtained three-dimensional observation data, three-dimensional point cloud data including terrain and elevation of features is obtained.

For example, in Patent Document 1, based on elevation data of three-dimensional point cloud data and contour data of features such as artificial buildings identified by aerial photographs, the elevation of the terrain and the elevation of the upper surface of the feature A three-dimensional urban space model creation system that automatically creates a three-dimensional urban space model is described. In addition, in Patent Document 2, a computer, based on three-dimensional point cloud data and a large number of grids generated on a horizontal plane, determines the point with the lowest altitude among the points in each grid. describes a technology for determining the elevation of the ground surface excluding the influence of a certain feature, and generating a terrain model based on the determined elevation.

JP-A-2002-74323 JP 2013-88188 A

In the technology described in Patent Document 1, if the user of the system is not a surveying engineer who has specialized knowledge of surveying, the technology cannot be used, or it takes time to use the technology. There were problems.

In addition, in the technique described in Patent Document 2, there is a problem that when the survey range includes terrain having steep slopes, the larger the grid size, the more accurately the slopes cannot be represented. In addition, when the grid size is set to be small, the number of grids increases, so that it takes time for the computer to generate the terrain model.

The present invention has been made to solve such problems, and provides an information processing apparatus and a control program for improving the processing speed of calculating the altitude value of the terrain according to the shape of the terrain and the arrangement of the features. intended to provide

An information processing apparatus according to the present invention provides a three-dimensional survey including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of terrain and features in a survey target area acquired by a three-dimensional survey instrument. An information processing device for estimating an elevation within a survey target area from original point cloud data, showing a region setting unit for setting a calculation target region corresponding to the survey target region, and a plurality of regions into which the calculation target region is divided. a creation unit that creates area data; for each of a plurality of areas, one or more points included in each area are determined based on the three-dimensional point cloud data; Based on the first determination unit that determines the lowest altitude value from the above as the region altitude value of each region, and the region altitude value of each region, for each combination of two regions adjacent to each other among the plurality of regions, a calculating unit for calculating a difference value between the two regions; and two regions having a difference value exceeding a predetermined value, all of the two regions having a difference value exceeding the predetermined value are set as new calculation target regions, A control unit that re-executes each process of the first determination unit, the calculation unit, and the second determination unit; and an output control unit that outputs as

Further, in the information processing apparatus according to the present invention, the calculation unit calculates, as a difference value, an altitude difference between two regions for each combination of two regions adjacent to each other, based on the region altitude value of each region. Alternatively, based on the area altitude value of each area, for each combination of two areas adjacent to each other, calculate the difference in elevation between the two areas, calculate the distance between the center points of the two areas, and calculate It is preferable to perform a process of calculating the inclination angle of the second area based on the calculated altitude difference and the calculated distance and using the calculated inclination angle as a difference value.

Further, in the information processing apparatus according to the present invention, the plurality of regions are grid-like mesh regions, and when the calculation target region corresponding to the survey target region is divided by the creation unit, the maximum A mesh region of a size is used, and if the region divided by the creation unit is a mesh region of the minimum size set by the user, the control unit executes the processing of the first determination unit, then the calculation unit and It is preferable to execute the processing of the output control unit without executing each processing of the second determination unit.

Further, in the information processing apparatus according to the present invention, at least one of information relating to the accuracy of the altitude value input by the user and information relating to the display scale of the map information displayed using the altitude value of the terrain output by the output control unit. and a setting unit that sets, as the predetermined value, a value corresponding to at least one of the information regarding the accuracy of the altitude value and the information regarding the display scale.

Further, in the information processing apparatus according to the present invention, the control unit has two regions having a difference value exceeding a predetermined value, and the other region adjacent to one of the two regions and the two regions adjacent to the other region. are aligned in a predetermined direction, if the difference between the difference value of the second region and the difference value of the first and second regions does not exceed a second predetermined value, the second region is the object of calculation. It is preferable not to set it as an area.

Further, in the information processing apparatus according to the present invention, the output control unit displays map information using the elevation value of the terrain corresponding to the survey target area, and the information processing apparatus includes the display unit and the a storage unit that stores area altitude values in association with information indicating the size of each area, and stores scale data indicating a plurality of display scales and size data indicating the size of the area in association with each other; The output control unit determines the display area of the map information according to the display scale set by the user, refers to the storage unit, and outputs the map information based on the area altitude value of each area having a size corresponding to the display scale. is preferably displayed on the display unit.

A control program according to the present invention is a three-dimensional survey including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of terrain and features in a survey target area acquired by a three-dimensional survey instrument. A control program for controlling a computer for estimating an elevation within a survey target area based on point cloud data, comprising: an area setting step for setting a calculation target area corresponding to the survey target area; and a plurality of areas obtained by dividing the calculation target area. and determining one or more points included in each area based on the three-dimensional point cloud data for each of the plurality of areas, and determining each altitude value of the one or more points A first determination step of determining the lowest altitude value among the regions as the region altitude value of each region; a calculating step of calculating the difference value of the two regions; 2 determination step, and, if there are two regions having a difference value exceeding a predetermined value, all of the two regions having a difference value exceeding the predetermined value are set as new calculation target regions. setting, the creation step, the first determination step, the calculation step, and the second determination step are executed again, and if there are no two regions having a difference value exceeding the predetermined value, the region elevation value of each region is Output as altitude value.

The information processing apparatus and the control program according to the present invention make it possible to improve the processing speed of the processing for calculating the altitude value of the terrain according to the shape of the terrain and the arrangement of the features.

1 is a diagram illustrating an example of a schematic configuration of an information processing device; FIG. (a) is a schematic diagram for explaining an example of how to use the three-dimensional surveying instrument, and (b) is a diagram showing an example of a setting screen displayed on the display unit 13. FIG. (a) is a schematic diagram for explaining an example of a survey target area and three-dimensional point cloud data, and (b) is a schematic diagram for explaining an example of a plurality of areas. (a) is a schematic diagram for explaining an example of the positional relationship between each point and a plurality of areas included in the three-dimensional point cloud data; (b) is a point corresponding to the area elevation value and a plurality of FIG. 4 is a schematic diagram for explaining an example of a positional relationship with regions; FIG. 5A is a schematic diagram for explaining an example of a method of redividing a plurality of regions when the difference value is an elevation difference, and FIG. 5B is a schematic diagram for when the difference value is an inclination angle; 3 is a schematic diagram for explaining an example of a method of re-dividing a plurality of regions in FIG. (a) is a diagram showing an example of the data structure of three-dimensional point cloud data, and (b) is a diagram showing an example of the data structure of area data. FIG. 7 is a diagram showing an example of an operation flow of altitude value calculation processing; FIG. 4 is a schematic diagram for explaining an example of a plurality of regions; It is a figure which shows an example of the data structure of a display scale table.

Various embodiments of the present invention will now be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and equivalents thereof.

(Information processing device 1)
FIG. 1 is a diagram showing an example of a schematic configuration of an information processing apparatus 1. As shown in FIG.

The information processing device 1 is, for example, a personal computer (PC). The information processing device 1 may be a server device. The information processing device 1 may be a tablet terminal, a tablet PC, or the like.

The information processing device 1 is a three-dimensional point cloud including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of topography and features in a survey target area acquired by a three-dimensional survey instrument. It has a function of executing altitude value calculation processing for estimating the altitude in the survey target area using the data.

Terrain is the form of unevenness and undulations on the ground surface, and the altitude value of terrain is the altitude value of the ground surface. A feature is a tangible object such as a plant, a bridge, a railway, or a building that exists on the ground.

A three-dimensional surveying instrument is, for example, a laser scanner mounted on a mobile object. Any three-dimensional surveying instrument can be used as long as it can measure plane coordinates and elevation values of multiple points on topography and features. A case where the three-dimensional surveying instrument is a laser scanner will be described below as an example.

The laser irradiation part of the laser scanner irradiates a pulsed laser, measures the scattered light, and measures the reflected position based on the time from irradiation to detection. For example, the laser scanner measures the distance between the laser scanner and the outer surface of the terrain and features by irradiating the terrain and features with a laser. The laser scanner converts the three-dimensional coordinates of the observed point according to the sensor coordinate system with the predetermined position of the laser scanner as the origin, and the three-dimensional coordinates of the predetermined position of the laser scanner according to the specific position coordinate system, Output as 3D observation data. The specified position coordinate system is a coordinate system selected from the geographic coordinate system and the projected coordinate system of the planar rectangular coordinate system and the UTM coordinate system corresponding to the survey area, or a geodetic system selected from the World Geodetic System and the Japan Geodetic System. It is a system. The three-dimensional coordinates of the predetermined position of the laser scanner are, for example, position coordinates (latitude, longitude, altitude) obtained by a GPS device installed within a predetermined range outside the laser scanner or installed inside the laser scanner. is.

The three-dimensional coordinates included in the three-dimensional observation data output by the laser scanner are generated by a predetermined creation device in a specific position coordinate system based on the three-dimensional coordinates of the predetermined position of the laser scanner included in the three-dimensional observation data. Converted to plane coordinates and elevation values. Data in which a plurality of plane coordinates and elevation values in a specific positional coordinate system corresponding to points observed by a laser scanner are aggregated is referred to as three-dimensional point cloud data. In this way, the predetermined creation device creates three-dimensional points including plane coordinates and elevation values of a plurality of points based on the three-dimensional observation data of topography and features within the survey target area acquired by the three-dimensional survey instrument. Create group data. The X and Y values of the plane coordinates of the point are, for example, longitude and latitude, respectively. The processing for creating three-dimensional point cloud data may be performed by the information processing device 1 .

The survey target area is an applicable range of the altitude value calculation process set by the user of the information processing apparatus 1 . The information processing apparatus 1 may automatically set a predetermined range including all or part of the three-dimensional point cloud data as the survey target area. The survey target area is defined by plane coordinates of a specific positional coordinate system. The survey target area is, for example, the first longitude or more and the second longitude (the second longitude is a value greater than the first longitude) or less, and the first latitude or more and the second latitude ( The second latitude is a value greater than the first latitude.

The information processing device 1 divides the survey target area into a plurality of areas, and estimates the elevation value of the terrain corresponding to each divided area.

The information processing apparatus 1 includes, for example, a storage unit 11, an operation unit 12, a display unit 13, and a processing unit 14 in order to realize the functions described above.

The storage unit 11 includes, for example, at least one of a semiconductor memory device such as a ROM (Read Only Memory) and a RAM (Random Access Memory), a magnetic tape device, a magnetic disk device, or an optical disk device. The storage unit 11 stores an operating system program, a driver program, a control program, data, and the like used for processing in the processing unit 14 . The driver programs stored in the storage unit 11 include an input device driver program that controls the operation unit 12, an output device driver program that controls the display unit 13, and the like. The control program stored in the storage unit 11 is an application program or the like for executing the altitude value calculation process. Various programs stored in the storage unit 11 may be installed in the storage unit 11 using a known setup program or the like from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM. The data stored in the storage unit 11 are three-dimensional point cloud data, area data, various setting information input by the user, and the like. Further, the storage unit 11 may temporarily store temporary data related to predetermined processing.

The operating unit 12 is, for example, a keyboard, a mouse, or a pointing device such as a touch panel. The user can use the operation unit 12 to input characters, numbers and symbols, positions on the display screen of the display unit 13, and the like. The operation unit 12 generates a signal corresponding to the operation when operated by the user. The generated signal is then supplied to the processing unit 14 as a user instruction.

The display unit 13 is a liquid crystal display. The display unit 13 may be an organic EL (Electro-Luminescence) display or the like. The display unit 13 displays a video corresponding to the video data supplied from the processing unit 14, an image corresponding to the image data, and the like.

The processing unit 14 includes one or more processors and their peripheral circuits. The processing unit 14 controls overall operations of the information processing apparatus 1, and is, for example, a CPU (Central Processing Unit). The processing unit 14 executes various information processing in an appropriate procedure based on the programs stored in the storage unit 11 and various instructions input according to the user's operation of the operation unit 12. It controls the operation of 13. The processing unit 14 executes various types of information processing based on the operating system program, driver program, and control program stored in the storage unit 11 . Also, the processing unit 14 can execute a plurality of programs in parallel.

The processing unit 14 includes at least an acquisition unit 141 , a setting unit 142 , a creation unit 143 , a determination unit 144 , a calculation unit 145 , a control unit 146 and an output control unit 147 . Each of these units is a functional module implemented by a program executed by a processor included in the processing unit 14 . Alternatively, each of these units may be implemented in the information processing apparatus 1 as firmware.

The acquisition unit 141 provides three-dimensional point cloud data including plane coordinates and elevation values of a plurality of points created based on three-dimensional observation data of topography and features within a survey target area acquired by a three-dimensional survey instrument. is obtained from the production device. The creation unit 143 of the information processing device 1 may create 3D point cloud data based on the 3D observation data. In this case, the acquisition unit 141 acquires the 3D point cloud data output from the creation unit 143. and stored in the storage unit 11.

FIG. 2(a) is a schematic diagram for explaining an example of how to use the three-dimensional survey instrument. In the example shown in FIG. 2( a ), the three-dimensional surveying instrument 200 is mounted on an unmanned aerial vehicle (UAV (so-called “drone”)) 201 . The UAV 201 moves when the user operates a predetermined remote control device, and the three-dimensional survey instrument 200 measures a plurality of points as the UAV moves and acquires three-dimensional observation data. The three-dimensional surveying instrument 200 may be mounted on a mobile measurement vehicle (not shown), measure a plurality of points as the mobile measurement vehicle moves, and obtain three-dimensional observation data.

Returning to FIG. 1 , the acquisition unit 141 acquires various setting information input by the user operating the operation unit 12 and stores the acquired various setting information in the storage unit 11 .

(Setting screen 210)
FIG. 2B is a diagram showing an example of the setting screen 210 displayed on the display unit 13. As shown in FIG. The setting screen 210 is displayed on the display unit 13 by the output control unit 147 in response to a setting screen display instruction from the user.

The setting screen 210 is a screen for the user to input setting values regarding the accuracy of altitude values, and includes a scale selection object 211 , an altitude value accuracy input object 212 and a setting object 213 .

The scale selection object 211 is an operation object for selecting the display scale of the map information using the altitude value calculated by the altitude value calculation process. The scale selection object 211 shown in FIG. 2B includes a plurality of button-shaped objects and character information (“1/100”, “1/250”, and "1/500", etc.).

If the input position on the setting screen 210 that is input according to the user's operation of the operation unit 12 is within the display area of any of the button-type objects included in the scale selection object 211, the button corresponding to the input position The type object is changed to indicate that it has been selected. Further, when the input position on the setting screen 210 that is input according to the user's operation of the operation unit 12 is within any display area of the character information indicating the display scale included in the scale selection object 211, the input The display mode of the button-type object of character information corresponding to the position is changed to indicate that it has been selected.

The altitude value accuracy input object 212 is an input object for inputting the altitude value accuracy required in the altitude value calculation process. An input object is, for example, a text input box. When a numerical value is input to the altitude value accuracy input object 212 by the user operating the operation unit 12 , the input numerical value is displayed in the altitude value accuracy input object 212 .

For example, when the user inputs the numerical value “1.0”m to the altitude value accuracy input object 212, the numerical value “1.0” is requested in the altitude value accuracy input object 212 in the altitude value calculation process. displayed as the accuracy of the elevation value.

When the display scale is selected by the user on the setting screen 210 , a numerical value indicating the accuracy of the altitude value according to the selected display scale may be displayed in the altitude value accuracy input object 212 . For example, the storage unit 11 stores information indicating a plurality of types of display scales, and numerical information indicating the accuracy of the altitude value corresponding to each display scale. When a scale is selected, information indicating the selected display scale is acquired, and based on the acquired information, numerical information indicating the accuracy of the altitude value corresponding to the selected display scale is extracted from the storage unit 11. . The output control unit 147 then displays the extracted numerical value in the altitude value accuracy input object 212 . In this case, the altitude value accuracy input object 212 is controlled by the output control unit 147 so that the user can change the numerical value in the displayed altitude value accuracy input object 212 to any numerical value by operating the operation unit 12. . The altitude value accuracy input object 212 may be controlled by the output control unit 147 so that the user cannot change the numerical value in the displayed altitude value accuracy input object 212 to any numerical value by operating the operation unit 12 .

The setting object 213 is a button object for determining the selection of the map information display scale and/or obtaining the altitude value accuracy. The setting object 213 may be an icon image, text, or the like. If the input position on the setting screen 210 input according to the operation of the operation unit 12 by the user is within the display area of the setting object 213, the selected display scale and/or the accuracy of the input altitude value are included. Setting information is input to the information processing apparatus 1 and acquired by the acquisition unit 141 .

Returning to FIG. 1, the setting unit 142 sets a calculation target area corresponding to the survey target area. That is, the setting unit 142 sets the same area as the survey target area as the calculation target area of the altitude value calculation process.

FIG. 3A is a schematic diagram for explaining an example of a survey target area 300 and three-dimensional point cloud data. In the example shown in FIG. 3A , the plane coordinates of each point 301 included in the three-dimensional point cloud data are located within the survey target area 300 . The survey target area 300 has a rectangular shape. For example, the survey target area 300 includes two X-value lines out of a plurality of X-value lines defining a mesh area described later and two Y-value lines out of a plurality of Y-value lines defining the mesh area. It may be formed by lines. The survey target area 300 is not limited to a rectangular shape, and may be a circular shape, an elliptical shape, a polygonal shape, or the like.

Returning to FIG. 1, the creating unit 143 creates area data indicating a plurality of areas obtained by dividing the calculation target area 302 . For example, the setting unit 142 sets the survey target region 300 as the calculation target region 302, the creation unit 143 divides the calculation target region 302 into a plurality of regions 303, and generates region data indicating the plurality of divided regions 303. Stored in the storage unit 11 .

FIG. 3B is a schematic diagram for explaining an example of the plurality of regions 303. As shown in FIG. The area 303 is, for example, a grid-like mesh area. A mesh area is a substantially square section on the map that is delimited according to the X-value line and the Y-value line. For example, a mesh is a division configured by dividing a map into substantially square shapes of 10 m units. The shape of the compartments that make up the mesh is not limited to a substantially square shape of 10 m units, but may be a substantially square shape of 5 m units, a substantially square shape of 1 m units, or a substantially square shape of units exceeding 10 m. ' is fine. The X-value line and Y-value line are defined based on predetermined X and Y values, respectively. The X and Y values are defined by a particular location coordinate system, eg longitude and latitude.

Returning to FIG. 1 , the creation unit 143 may set the mesh size based on the setting information acquired by the acquisition unit 141 . For example, the creation unit 143 sets the mesh size to be smaller as the display scale of the map information included in the setting information is larger. In addition, the creation unit 143 sets the size of the mesh smaller as the accuracy of the altitude value included in the setting information is higher. The creation unit 143 may reduce the mesh size as the number of records (number of points) of the three-dimensional point cloud data in the calculation target region 302 increases.

The determination unit 144 determines one or more points included in each area based on the three-dimensional point cloud data for each of the plurality of areas, and determines the lowest altitude among the altitude values of the one or more points. The value is determined as the area altitude value of each area, and area data including the determined area altitude value is stored in the storage unit 11 .

FIG. 4A is a schematic diagram for explaining an example of the positional relationship between each point 301 and a plurality of regions 303 included in the three-dimensional point cloud data. For example, the determination unit 144 determines the plane coordinates of each point 301 included in each of the plurality of regions 303 . Next, the determination unit 144 determines the altitude value of the point 301 of the plane coordinates determined to be included in each region 303, and determines the lowest altitude value among the determined one or more altitude values. Then, the determination unit 144 determines the lowest altitude value determined in each region 303 as the region altitude value of each region 303 and stores region data including the determined region altitude value in the storage unit 11 .

If the determining unit 144 determines that there is an area 303 that does not include any plane coordinates of the point 301, the area altitude value of the area 303 is calculated as the area altitude values of the eight surrounding areas 303 adjacent to the area 303. An average value may be used.

FIG. 4B is a schematic diagram for explaining an example of the positional relationship between the point 304 corresponding to the area altitude value and the plurality of areas 303. As shown in FIG. One point 304 is determined in each area 303 based on the determination result of the determination unit 144 .

Returning to FIG. 1, the calculation unit 145 calculates a difference value between two regions for each combination of two regions adjacent to each other among the plurality of regions based on the region altitude value of each region. The difference value is, for example, the difference in elevation of the two regions or the inclination angle of the two regions. Next, when there are two regions having a difference value exceeding the predetermined value, the control unit 146 sets all of the two regions having the difference value exceeding the predetermined value as new calculation target regions. . The control unit 146 (1) creates area data indicating a plurality of areas into which the new calculation target area is divided, (2) determines and stores the area altitude values of the divided areas, and (3) a plurality of For each combination of two adjacent regions among the regions, a difference value between the two regions is calculated, and (4) it is determined whether or not there are two regions having a difference value exceeding a predetermined value. , are again executed by the creating unit 143, the determining unit 144, and the calculating unit 145.

After causing the creation unit 143, the determination unit 144, and the calculation unit 145 to execute the series of processes (1) to (4) described above, the control unit 146 selects two regions having a difference value exceeding a predetermined value. If it is determined that there is, all of the two regions determined this time are set as new calculation target regions, and the above-described processes (1) to (4) are performed by the creation unit 143, the determination unit 144, and the calculation unit 145. Let In this way, until it is determined in (4) above that there is no region 2 having a difference value exceeding the predetermined value, the process of setting a new calculation target region and the above-described (1) to (4) and are repeatedly executed.

If the control unit 146 determines that there are no two regions having a difference value exceeding the predetermined value, then the above-described processes (1) to (4) are performed by the creation unit 143, the determination unit 144, and the calculation unit. 145 does not execute. Even if the control unit 146 determines that there are two regions having a difference value exceeding the predetermined value, the size of the mesh region created by the process (1) this time is stored in the storage unit 11 in advance. If it is equal to or less than the minimum region size, the creating unit 143, the determining unit 144, and the calculating unit 145 may not be caused to execute the processes (1) to (4) described above. Note that the minimum area size stored in the storage unit 11 in advance may be input by the user or predetermined.

Then, when the control unit 146 does not cause the creation unit 143, the determination unit 144, and the calculation unit 145 to execute the processes (1) to (4) described above, the output control unit 147 outputs the area altitude value of each area to the terrain Output as the altitude value of

FIG. 5A is a schematic diagram for explaining an example of a method of redividing a plurality of regions when the difference value is an elevation difference.

In the example shown in FIG. 5A, 9 mesh areas are shown as the plurality of areas 303 . The area elevation values of area 303 of No. 9 are respectively "9.11" m, "10.51" m, "11.64" m, "9.90" m, "9.99" m, and "11.45" m. 'm, '9.03'm, '9.27'm, and '10.54'm.

Of the 9 areas 303 shown in FIG. 5A, the middle area 303 (with an area altitude value of "9.99" m) is 4 areas 303 (with an area altitude value of " 10.51" m, "9.90" m, "11.45" m, and "9.27" m). In addition, the middle area 303 has four areas 303 (area elevation values of "9.11" m, "11.64" m, "9.03" m, and "10. 54" m).

In the example shown in FIG. 5( a ), two regions having a difference value exceeding a predetermined value (for example, “1 m”) among two regions adjacent to each other have a region altitude value of “10.51”. m and '11.64' m, two regions with region elevation values of '9.99' m and '11.64' m, and region elevation values of '9.27' m, and A region of 2 which is "10.54" m. The predetermined value may be the accuracy of the altitude value included in the setting information, or a value corresponding to the display scale of the map information included in the setting information (for example, the predetermined value "1.0" corresponding to the scale "1/500"). 'm is stored in the storage unit 11).

A new calculation target area 500 including all of these two areas is divided into a plurality of areas 501 by the control unit 146 . In the example shown in FIG. 5A, each region 501 is a mesh region and is divided into four mesh regions each having a side length approximately half the length of the side of the mesh region. In this way, in re-division, the calculation target region 500 is divided into regions 501 having sizes smaller than the plurality of regions 303 that have already been divided. Hereafter, for these regions 501, the region altitude values are determined, and it is determined whether or not there are two regions having a difference value exceeding a predetermined value, and the re-division is performed repeatedly.

FIG. 5B is a schematic diagram for explaining an example of a method of redividing a plurality of regions when the difference value is the tilt angle.

In the example shown in FIG. 5(b), 9 mesh areas are shown as the plurality of areas 303 as in FIG. 5(a). In the example shown in FIG. 5B, each of the eight regions 303b adjacent to the central region 303a indicates an inclination angle based on the central region 303a. Note that the center region 303a shows an inclination angle of "0.0".

Assuming that the angle of inclination of two areas adjacent to each other is α, the value obtained by dividing the altitude difference between the two areas by the distance between the two areas is tanα. That is, the calculation unit 145 calculates α such that (altitude difference of the 2 regions)/(distance between center points of the 2 regions)=(tan α). When the region 303 is a mesh region, the distance between the two regions is the distance between the center points of the two mesh regions, so it may be replaced with one side of the mesh region. In this case, the calculation unit 145 calculates α such that (altitude difference of the two regions)/(one side of the region)=(tan α).

In the example shown in FIG. 5B, the inclination angles α between the central region 303a and the adjacent eight regions 303b are 17.8 degrees, 0.5 degrees, and 21.3 degrees, respectively. , 17.5 degrees, 21.0 degrees, 18.7 degrees, 0.7 degrees, and 20.5 degrees.

In the 9 regions 303 shown in FIG. 5B, the middle region 303a and the 2 regions having a difference value exceeding a predetermined value (for example, “20” degrees) are the middle region 303a and the inclination angle α A region 303b of 21.3 degrees, a middle region 303a and a region 303b with an inclination angle α of 21.0 degrees, and a middle region 303a and an inclination angle α of 20.5 degrees. area 303b.

The predetermined value may be a value corresponding to the accuracy of the altitude value included in the setting information (for example, the predetermined value "20.0" degrees corresponding to the accuracy "1.0" m is stored in the storage unit 11), Alternatively, it may be a value corresponding to the display scale of the map information included in the setting information (for example, a predetermined value “20.0” degrees corresponding to the scale “1/500” is stored in the storage unit 11).

A new calculation target region 510 including all of these two regions is divided into a plurality of regions 511 by the control unit 146 . In the example shown in FIG. 5(b), the same re-division as in FIG. 5(a) is performed. In the re-division, the calculation target region 510 is divided into regions 511 having a smaller size than the plurality of regions 303 already divided. Hereafter, it is repeated that the area elevation value is determined for these divided areas 511, and it is determined whether or not there are two areas having a difference value exceeding a predetermined value, and then re-dividing is performed. be

As described above, the information processing apparatus 1 (1) creates area data indicating a plurality of areas into which the calculation target area is divided, (2) determines the area altitude values of the divided areas, and (3) a plurality of For each combination of two adjacent regions among the regions, a difference value between the two regions is calculated, and (4) it is determined whether or not there are two regions having a difference value exceeding a predetermined value. , and until it is determined in (4) that there is no region of 2 with a difference value exceeding a predetermined value, or until the divided region is equal to or smaller than the minimum region size, a new calculation is performed. The target area setting process and the processes (1) to (4) are repeatedly executed.

As a result, when the terrain has a steep slope with a predetermined angle or more, only the area corresponding to the steep slope is set to a smaller area. Area elevation values are automatically calculated. In addition, since the lowest altitude value for each area is adopted as the area altitude value, the altitude value of terrain that is highly likely not to include the altitude value of a feature is automatically calculated by simple processing. As described above, the information processing apparatus 1 can improve the processing speed of the processing for calculating the altitude value of the terrain excluding the influence of the shape of the terrain and the features.

FIG. 6A is a diagram showing an example of the data structure of three-dimensional point cloud data. In the three-dimensional point cloud data, latitude, longitude, elevation value, etc. are stored in association with the point ID of each point.

FIG. 6B is a diagram showing an example of the data structure of area data. In the area data, the level, shape, area elevation value, etc. are stored in association with the area ID of each area. The level is a value set according to the size of the area. The area of the third size obtained by dividing the area of the third size is set to level "3". The maximum value of the level is not limited to "3", and may be "5" or "10". The shape is vector data indicating the shape of each area. In the example shown in FIG. 6(b), the shape defines a mesh region with four corner coordinate values. The area elevation value is an area elevation value corresponding to each area calculated by the calculation unit 145, and is stored as the terrain elevation value.

In the example shown in FIG. 6B, the area with the area ID "M53394509" has a size of level "1" and an area altitude value of "8.23" m. The area ID "M533945090" is obtained by adding "0" to the area ID "M53394509", and similarly, the area ID "M533945091" is obtained by adding "1" to the area ID "M53394509". . Therefore, each of the area with the area ID "M533945090" and the area with the area ID "M533945091" is one of the areas obtained by dividing the area with the area ID "M53394509" and has a size of level "2".

Also, since the area ID "M5339450902" is obtained by adding "2" to the area ID "M533945090", the area with the area ID "M5339450902" is one of the areas obtained by dividing the area ID "M533945090".

In this way, the area data can be hierarchically managed for each area size.

(Altitude value calculation processing)
FIG. 7 shows an example of an operation flow of altitude value calculation processing by the acquisition unit 141, the setting unit 142, the creation unit 143, the determination unit 144, the calculation unit 145, the control unit 146, and the output control unit 147 of the information processing apparatus 1. It is a diagram. This altitude value calculation process is executed mainly by the processing unit 14 in cooperation with each element of the information processing apparatus 1 based on a control program stored in the storage unit 11 in advance.

First, the acquisition unit 141 acquires 3D point cloud data from a creation device that creates 3D point cloud data based on 3D observation data acquired by a 3D survey instrument (step S101).

Next, the acquisition unit 141 acquires various setting information input by the user to the setting screen 210 (step S102).

Next, the setting unit 142 sets a calculation target area corresponding to the survey target area (step S103).

Next, the creation unit 143 creates region data indicating a plurality of regions obtained by dividing the set calculation target region (step S104). The creating unit 143 may set the sizes of the plurality of divided regions based on the setting information acquired by the acquiring unit 141 . For example, when the maximum mesh size is stored in the storage unit 11 in correspondence with the display scale information of the map information included in the setting information, the creation unit 143 determines the size of the mesh included in the setting information acquired by the acquisition unit 141. Alternatively, the maximum mesh size corresponding to the displayed reduced scale may be read out from the storage unit 11 and a region based on the maximum mesh size may be created.

Next, the determination unit 144 determines one or more points included in each area based on the three-dimensional point cloud data for each of the plurality of created areas, and determines the altitude values of the one or more points. The lowest altitude value among them is determined as the region altitude value of each region, and the region data including the determined region altitude value is stored in the storage unit 11 (step S105).

Next, the determination unit 144 determines whether or not the size of the divided area is equal to or less than the minimum area size (step S106).

If the determining unit 144 determines that the size of the divided area is equal to or smaller than the minimum area size (step S106-Yes), the process proceeds to step S110.

When the determination unit 144 determines that the size of the divided area exceeds the minimum area size (step S106-No), the calculation unit 145 calculates the values of the plurality of areas based on the area altitude value of each area. A difference value between the two regions is calculated for each combination of the two regions adjacent to each other (step S107).

Next, the control unit 146 determines whether or not there are two areas having a difference value exceeding a predetermined value (step S108).

When the control unit 146 determines that there are no two regions having a difference value exceeding the predetermined value (step S108-No), the process proceeds to step S110.

When the control unit 146 determines that there are two regions having a difference value exceeding the predetermined value (step S108-Yes), all of the two regions having a difference value exceeding the predetermined value are The area is set as a calculation target area (step S109), and the process returns to step S104.

In step S110, the output control unit 147 outputs the area altitude value of each area as the terrain altitude value, and terminates the altitude value calculation process.

After calculating the area altitude value of each area, for example, an elevation map in which each area is hierarchically color-coded according to the area altitude value of each area is displayed on the display unit 13 as an output result of the altitude value by the output control unit 147. may be Also, the elevation map may be printed out by a printer device (not shown).

Further, when the storage unit 11 of the information processing apparatus 1 stores the area altitude value of each area in the past, the output control unit 147 stores the area altitude value of each area focused this time and the corresponding past area altitude value. A differential elevation map in which each region is color-coded step by step according to the calculated difference value is displayed on the display unit 13 or printed out by a printer device (not shown). good too.

As described above, the display unit 13 has a function of displaying map information corresponding to the survey target area, and the output control unit 147 determines the display area of the map according to the display scale set by the user, and stores the map information. Referring to unit 11, it has a function of displaying map information on display unit 13 based on the area altitude value of each area having a size corresponding to the display scale.

As described in detail above, the information processing apparatus 1 of the present embodiment can improve the processing speed of the processing for calculating the altitude value of the terrain excluding the influence of the shape of the terrain and the features. becomes.

(Modification 1)
In addition, the present invention is not limited to this embodiment. For example, when there are two regions having a difference value exceeding a predetermined value, the control unit 146 determines that the other region adjacent to one of the two regions and the two regions are predetermined If the difference between the difference value between the two regions and the difference values between the first region and the second region does not exceed a second predetermined value, the second region is set as the calculation target region. do not.

For example, as shown in FIG. 8A, regions A, B and C are arranged side by side in a predetermined direction. Similarly, regions D, E and F, regions G, H and I, regions A, D and G, regions B, E and H, regions C, F and I, regions A, E and I , regions C, E and G are arranged side by side in a predetermined direction.

In the three regions arranged side by side in a predetermined direction, there are two combinations of adjacent regions, so two difference values are calculated for each combination. For example, in areas A, B, and C, the difference value between areas A and B and the difference value between areas B and C are calculated. If the difference between the two types of difference values does not exceed the second predetermined value, even if at least one of the difference values of each combination exceeds the predetermined value, the two regions related to the combination exceeding the predetermined value are It is not set as a calculation target area.

When the difference between the two types of difference values in the areas A, B and C does not exceed the second predetermined value, the difference between the difference values of the areas A and B and the difference values of the areas B and C is the second predetermined value. Therefore, it is presumed that in regions A, B and C, the tilt angle does not change significantly. In this case, even if the inclination angles of the areas A, B, and C are steep (even if they exceed a predetermined value), the inclination is uniform, so the terrain can be expressed without further dividing the areas. Is possible.

The information processing apparatus 1 according to Modification 1 can reduce unnecessary division processing, and can reduce the calculation load of the altitude value calculation processing.

(Modification 2)
Further, the output control unit 147 may display the three-dimensional map corresponding to the survey target area on the display unit 13 based on the display scale specified by the user with reference to the display scale table and the area data.

FIG. 9 is a diagram showing an example of the data structure of the display scale table. The display scale table is stored in the storage unit 11 . In the display scale table, each of a plurality of display scales is stored in association with a region size level. For example, display scale "1/100" is associated with level "1", level "2" and level "3", and display scale "1/250" is stored with levels "2" and "3". Level "3" is associated and stored, and display scale "1/500" is associated and stored with level "3". In this manner, the display scale table stores scale data indicating a plurality of display scales and size data indicating the size of an area in association with each other.

The output control unit 147 acquires information about the display scale and the display point input by the user operating the operation unit 12 and extracts the display scale table from the storage unit 11 . The information about the display point is, for example, information about the latitude and longitude of the display center point, information about the place name of the point to be displayed, and the like. Next, the output control unit 147 refers to the extracted display scale table and identifies the level corresponding to the acquired display scale.

Next, the output control unit 147 refers to the area data and extracts the area altitude value associated with the specified level. The output control unit 147 creates an elevation map in which each area is hierarchically color-coded according to the area elevation value of each area, and displays the created elevation map on the display unit 13 or prints it out using a printer device (not shown). .

In this way, when a reduced display (display scale is small) is specified by the user, an elevation map created by a larger area is output, and when an enlarged display (display scale is large) is specified by the user, the An elevation map created by a small area is output. As a result, the information processing apparatus 1 can provide an elevation map that is easy for the user to visually recognize according to the display scale.

(Modification 3)
Furthermore, the output control unit 147 may create TIN (triangulated irregular network) data based on the plane coordinates of the central point of the area and the area altitude value. In this case, the output control unit 147 displays the three-dimensional map on the display unit 13 based on the created TIN data or prints it out using a printer device (not shown). In this way, the information processing apparatus 1 can output a 3D map while suppressing the processing load of calculating the elevation value of the terrain using the 3D point cloud data.

It should be understood by those skilled in the art that various changes, substitutions and modifications can be made thereto without departing from the spirit and scope of the present invention.

1 information processing device 11 storage unit 12 operation unit 13 display unit 14 processing unit 141 acquisition unit 142 setting unit 143 creation unit 144 determination unit 145 calculation unit 146 control unit 147 output control unit

Claims (6)

3D point cloud data including plane coordinates and elevation values of multiple points created based on the 3D observation data of topography and features within the survey target area acquired by a 3D survey instrument, the survey target An information processing device for estimating an altitude in an area,
an area setting unit that sets a calculation target area corresponding to the survey target area;
a creation unit that creates region data indicating a plurality of regions obtained by dividing the calculation target region;
For each of the plurality of regions,
Determining one or more points included in each region based on the three-dimensional point cloud data,
a first determination unit that determines the lowest altitude value among the altitude values of the one or more points as the area altitude value of each area;
a calculation unit that calculates an elevation difference or an inclination angle of the two regions for each combination of the two regions adjacent to each other among the plurality of regions based on the region elevation value of each region;
a second determination unit that determines whether or not there is one of the two regions having the altitude difference or the tilt angle exceeding a predetermined value among the altitude differences or the tilt angles of the combination of the two regions; ,
If there are two areas having an elevation difference or inclination angle exceeding the predetermined value, all of the two areas having an elevation difference or inclination angle exceeding the predetermined value are used as the new calculation target areas. a control unit that sets and re-executes each process of the creation unit, the first determination unit, the calculation unit, and the second determination unit;
an output control unit for outputting an area elevation value of each area as an elevation value of terrain when there are no two areas having an elevation difference or an inclination angle exceeding the predetermined value;
with
When re-dividing the calculation target region, the creation unit divides the calculation target region into a plurality of regions each having a smaller size than the plurality of regions that have already been divided.
An information processing device characterized by: The calculation unit
A process of calculating an elevation difference between the two regions for each combination of the two regions adjacent to each other based on the region elevation value of each region; or
Based on the area elevation value of each area, for each combination of the two areas adjacent to each other, calculate the difference in elevation of the two areas, calculate the distance between the center points of each of the two areas, 2. The information processing apparatus according to claim 1, further comprising: calculating an inclination angle of said second area based on said calculated altitude difference and said calculated distance. The plurality of regions are grid-like mesh regions,
When the calculation target region corresponding to the survey target region is divided by the creation unit, a mesh region having a maximum size set by a user is used,
If the region divided by the creation unit is a mesh region having a minimum size set by a user, the control unit executes the process of the first determination unit, and then the calculation unit and the second 3. The information processing apparatus according to claim 1, wherein the processing of the output control unit is executed without executing each processing of the determination unit. an acquisition unit that acquires at least one of information regarding the accuracy of the altitude value input by the user and information regarding the display scale of the map information displayed using the altitude value of the terrain output by the output control unit;
The information according to any one of claims 1 to 3, further comprising a setting unit that sets, as the predetermined value, a value corresponding to at least one of the information regarding the accuracy of the altitude value and the information regarding the display scale. processing equipment. The output control unit displays map information using the elevation value of the terrain corresponding to the survey target area;
The information processing device is
a display unit;
The determined area altitude value of each area is stored in association with information indicating the size of each area, and scale data indicating a plurality of display scales and size data indicating the size of the area are associated and stored. and a storage unit for
The output control unit determines the display area of the map information according to the display scale set by the user, and refers to the storage unit to determine the area altitude value of each area having a size corresponding to the display scale. 5. The information processing apparatus according to any one of claims 1 to 4, wherein the map information is displayed on the display unit. 3D point cloud data including plane coordinates and elevation values of multiple points created based on the 3D observation data of topography and features within the survey target area acquired by a 3D survey instrument, the survey target A control program for controlling a computer for estimating elevation in an area, comprising:
an area setting step of setting a calculation target area corresponding to the survey target area;
a creation step of creating region data indicating a plurality of regions obtained by dividing the calculation target region;
For each of the plurality of regions,
Determining one or more points included in each region based on the three-dimensional point cloud data,
a first determination step of determining the lowest altitude value among the altitude values of the one or more points as the area altitude value of each area;
a calculation step of calculating an elevation difference or an inclination angle of the two regions for each combination of two regions adjacent to each other among the plurality of regions based on the region elevation value of each region;
a second determination step of determining whether or not there is one of the two areas having the elevation difference or the inclination angle exceeding a predetermined value among the elevation differences or the inclination angles of the combinations of the two areas; , causing the computer to execute
If there are two areas having an elevation difference or inclination angle exceeding the predetermined value, all of the two areas having an elevation difference or inclination angle exceeding the predetermined value are set as the new calculation target areas. setting and causing the creation step, the first determination step, the calculation step, and the second determination step to be executed again;
if there are no two regions having an elevation difference or inclination angle exceeding the predetermined value, outputting the region elevation value of each region as the terrain elevation value;
In the creating step, when re-dividing the calculation target region, the calculation target region is divided into a plurality of regions having sizes smaller than the plurality of regions that have already been divided.
A control program characterized by:

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