JP7317299B2 - Image processing system - Google Patents

Description

The present invention relates to an image processing system for image information obtained by photographing a road surface.

Uneven road surfaces such as airport runways and roads can lead to accidents, so it is important from the viewpoint of road surface management to detect road surface irregularities, especially irregularities. Therefore, conventionally, a vehicle traveling on a road or the like is equipped with a predetermined device to photograph the road surface, thereby detecting the unevenness of the road surface.

For example, as described in Patent Documents 1 and 2 below, a road surface is irradiated with slit light and photographed to detect the unevenness of the road surface. By using these, it is possible to detect the unevenness of the road surface to a certain extent.

JP-A-4-291195 JP-A-59-80501

In the case of the method of obtaining image information by photographing the road surface as in these inventions, it is required to photograph the entire range of the target road surface without omission. Therefore, it is conceivable to place cones (pylons) mounted with LEDs as guides on both sides of a route (course) along which the vehicle travels. In addition, there is a car navigation system as a system that guides the route to be traveled, and it is conceivable to travel along the guidance of the car navigation system.

However, when the cone is placed, it is not possible to photograph the road surface on the extension line of the cone. When photographing the road surface on the extension line of the cone, it is necessary to shift the cone before photographing. occurs.

Even when a car navigation system is used, when the vehicle is driven by a person, or when the vehicle is driven automatically, there is some fluctuation in the left-right direction (transverse direction).

If the road surface to be photographed is a runway, it is not possible to photograph the entire left and right sides of the runway in one run because of the long width in the transverse direction. It will be done. FIG. 26 schematically shows this. For the sake of simplification, Figure 26 schematically shows the state in which the runway is divided into two courses, and the course 1 and course 2 are run once each. It is wider than this and is generally divided into 3 or more courses. Also, the hatched portions in FIG. 26 are added to facilitate understanding of the relationship between the lanes.

As shown in Figure 26, when a vehicle travels on a course and photographs the road surface of the runway, when the entire runway is displayed as image information, as shown in Figure 26, by traveling course 1 It is necessary to align the image information of Lane 1, which is the area to be photographed, with the image information of Lane 2, which is the area to be photographed by traveling on Course 2, in the transverse direction. A course is an area where a vehicle is expected to travel (or a trajectory that the center of the vehicle is expected to pass through), and a lane is an area of the road surface that must be photographed as the vehicle travels along the course. When a vehicle ideally travels on a course, the center position of the course in the transverse direction coincides with the center position of the lane in the transverse direction. Also, the boundary of the course becomes the boundary of the lane.

That is, the corresponding points A', B', and C' in the image information of lane 2 corresponding to the points A, B, and C in the image information of lane 1 are specified, and based on the specified corresponding points, the synthesis processing of the image information is performed. conduct. The identification of these corresponding points is performed using techniques such as optical flow and local feature values. Corresponding points specified in this way are paired as indicated by A-A', B-B', and C-C' in FIG. 27, and a triangular area including these is set. Note that points such as D, E, F, and G are points specified from corresponding points with images of other lanes. Each lane image information is placed at a position where the center lines are the distance between the lanes, and at the same time, the image information of the area included in each triangle so that all the corresponding points match (the corresponding points overlap at the midpoint) are affine-transformed to synthesize the image information. At this time, the image information below ABC and above A'-B'-C' in FIG. 28 is discarded.

In this way, the series of processes requires a large number of corresponding points to be searched for the image information of the two lanes, and based on the results, it is necessary to perform affine transformation on each of the image information in a small area, which requires an enormous amount of time. For this reason, it is not suitable for situations in which it is desired to view the photographed results immediately.

Also, no consideration has been given to the display format when the road surface to be photographed is curved.

Therefore, in view of the above problems, the inventor invented an image processing system that does not cause omission of image information even if fluctuation occurs in the transverse direction during photographing. In addition, we have invented an image processing system that enables immediate visual confirmation of photographed results. Furthermore, the present inventors invented an image processing system capable of displaying a corresponding display format even for an object to be photographed that includes a curved portion.

A first invention is an image processing system for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion, wherein the image processing system processes the first detailed image information. A lane area, which is an area of the road surface that must be photographed, specified in the image information and the second detailed image information , and an area of a constant width provided outside the left and/or right of the lane area The first detailed image information and the second detailed image information are arranged so that the margin area in the first detailed image information is positioned next to the second detailed image information based on the margin area. and a part or all of the imaging range of the margin area in the first detailed image information is the same as the imaging range of the lane area in the second detailed image information. The display processing unit includes a first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion and contraction processing , and a unit distance interval This is an image processing system that performs display processing in a second display format for displaying side by side first detailed image information and second detailed image information expanded and contracted so that the length of the image information is constant.

By configuring as in the present invention, image information is not lost even if fluctuation occurs in the transverse direction during photographing. In addition, since complicated processing for synthesizing image information as in the conventional method is not required, image information can be displayed by simple processing without requiring processing time. Furthermore, even when shooting a curved road surface, in the first display format, irregularities such as unevenness can be confirmed in the same size as the actual size, and in the second display format, adjacent Since the difference in the transverse direction between matching image information is reduced, the entire image of an abnormality such as unevenness existing across the image information can be easily confirmed.

A second invention is an image processing system for first detailed image information and second detailed image information obtained by photographing adjacent ranges of an object to be photographed, wherein the image processing system processes the first detailed image information and the second detailed image information , the lane area that is the area of the road surface that must be photographed , and a constant width area provided on the left and right or either one of the lane area Based on the margin area, the first detailed image information and the second detailed image information are combined so that the margin area in the first detailed image information is positioned next to the second detailed image information. , a display processing unit that displays corresponding position information , and a part or all of the shooting range of the margin area in the first detailed image information is the lane in the second detailed image information It is an image processing system that is included in part or all of the imaging range of the area.

By configuring as in the present invention, image information is not lost even if fluctuation occurs in the transverse direction during photographing. In addition, since complicated processing for synthesizing image information as in the conventional method is not required, image information can be displayed by simple processing without requiring processing time.

In the above-described invention, the display processing unit adjusts the first detailed image information so that the margin area in the first detailed image information is positioned next to the margin area in the second detailed image information. and the second detailed image information.

By displaying the first image information and the second image information such that the second areas are positioned next to each other in this way, it is possible to overlook an abnormality such as unevenness in the vicinity of the respective boundaries.

In the above-described invention, the display processing unit further adjusts the first detailed image information such that the lane area in the first detailed image information is positioned next to the lane area in the second detailed image information . It can be configured as an image processing system that displays the image information and the second detailed image information.

By displaying the first image information and the second image information so that the second areas are positioned next to each other, it is possible to reduce the possibility of overlooking abnormalities such as irregularities near the boundaries, but the Visibility may be affected, such as overlapping display and loss of overall proportions. In situations such as determining a position to be viewed in detail from the entire object, it is preferable in terms of work efficiency to display image information in a wider range. Therefore, as in the present invention, by displaying the first image information and the second image information such that the first areas are adjacent to each other, the user's convenience can be improved.

In the above-described invention, the display processing unit further adjusts the first detailed image so that the margin area in the first detailed image information is positioned next to the margin area in the second detailed image information. a display format for displaying the information and the second detailed image information ; The display format for displaying the first detailed image information and the display format for displaying the second detailed image information can be switched as in an image processing system.

By making it possible to switch between two display formats as in the present invention, the user can switch the display according to his or her purpose, thereby improving convenience for the user.

In the above invention, the display processing unit can be configured as an image processing system that displays the lane area and the margin area in a distinguishable manner.

In the above invention, the display processing section can be configured as an image processing system that displays the first detailed image information and the second detailed image information in a distinguishable manner.

If the object to be photographed is, for example, a road surface, it has characteristics such as being paved with asphalt, making it difficult to distinguish between areas and image information. It should be displayed as

An eighth invention is an image processing system for first image information and second image information obtained by photographing adjacent ranges of an object, wherein the image processing system comprises the first image information and the second image information. For the image information of 2 , specify the lane area, which is the area of the road surface that must be photographed , and the margin area, which is an area of a certain width provided outside the left and right sides or either one of the lane area, and an image information processing unit that trims an area outside the margin area to generate detailed image information and trims an area outside the lane area to generate wide-area image information; a display processing unit that performs display processing in association with second image information using position information , wherein the display processing unit performs display processing based on the first image information and the detailed image information; The detailed image information based on the second image information is displayed so as to be positioned next to each other, and the wide-area image information based on the first image information and the wide-area image information based on the second image information are displayed next to each other. It is an image processing system that displays so as to be located in

By configuring as in the present invention, image information is not lost even if fluctuation occurs in the transverse direction during photographing. In addition, since complicated processing for synthesizing image information as in the conventional method is not required, image information can be displayed by simple processing without requiring processing time.

A ninth aspect of the present invention is an image processing system for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion, wherein the image processing system comprises the first detailed image information A first display format in which the image information and the second detailed image information are displayed side by side without performing expansion/contraction processing , and the first detailed image information expanded/contracted so that the length of the image information between unit distances is constant. and a display processing unit that performs display processing in a second display format for displaying second detailed image information side by side.

By configuring as in the present invention, even when photographing a curved road surface, in the first display format, irregularities such as unevenness can be confirmed in the same size as the actual size. In the second display format, the deviation in the transverse direction between adjacent pieces of image information is reduced, so that the entire image of irregularities such as unevenness existing across the image information can be easily confirmed.

In the above-described invention, the display processing section can be configured as an image processing system that displays the positional relationship of the corresponding unit distances in the first display format so as to be identifiable.

In the first display format, since the size of the image information is not expanded or contracted, the length of the image information differs between the inside and outside of the curved portion. Therefore, by configuring as in the present invention, it is possible to easily recognize the positional relationship of the unit distance.

In the above invention, the display processing section can be configured as an image processing system capable of switching between the first display format and the second display format.

In the first display format, since the size of the image information is not expanded or contracted, the size of the image information is close to the actual size regardless of whether the image information is inside or outside the curved portion. Therefore, even if there are irregularities such as unevenness, there is an advantage that there is little error in measuring from the image information. On the other hand, in the second display format, the deviation in the transverse direction between the first image information and the second image information is small, so when confirming the whole image of irregularities such as unevenness existing near the boundary from the image information. is useful. Therefore, by making these switchable, the user can select an appropriate display format according to the purpose, and the user's convenience can be improved.

The image processing system of the first invention can be realized by loading and executing the program of the invention into a computer. That is, an image processing program for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion, wherein the image processing program causes a computer to process the first detailed image. In the lane area, which is the area of the road surface that must be photographed, specified in the information and the second detailed image information , and a constant width area provided on the outside of either one of the left and right of the lane area Based on a certain margin area, the first detailed image information and the second detailed image information are combined so that the margin area in the first detailed image information is positioned next to the second detailed image information. and a part or all of the shooting range of the margin area in the first detailed image information is a part or all of the shooting range of the lane area in the second detailed image information. The display processing unit includes a first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion/contraction processing, and image information between unit distances. An image processing program for performing display processing in a second display format for displaying side by side first detailed image information and second detailed image information expanded and contracted so that the length of the image is constant.

The image processing system of the second invention can be realized by loading and executing the program of the invention into a computer. That is, an image processing program for first detailed image information and second detailed image information obtained by photographing adjacent ranges of an object to be photographed, wherein the image processing program causes a computer to process the first detailed image information and the second detailed image information. The lane area, which is the area of the road surface that must be photographed, specified in the second detailed image information , and the margin, which is an area of a certain width provided outside the left and/or right of the lane area Based on the area, the first detailed image information and the second detailed image information are combined so that the margin area in the first detailed image information is positioned next to the second detailed image information. , a display processing unit that displays corresponding position information , and part or all of the shooting range of the margin area in the first detailed image information is the lane area in the second detailed image information. It is an image processing program that is included in part or all of the shooting range.

The image processing system of the eighth invention can be realized by loading and executing the program of the invention into a computer. That is, an image processing program for first image information and second image information obtained by photographing adjacent ranges of an object to be photographed, wherein the image processing program causes a computer to process the first image information and the second image information. With regard to the image information , specify the lane area, which is the area of the road surface that must be photographed, and the margin area, which is an area of a certain width provided outside the left and right sides or either one of the lane area, and the margin an image information processing unit that trims an area outside the area to generate detailed image information, and trims an area outside the lane area to generate wide-area image information; the first image information and the second image information; and a display processing unit that performs display processing in association with the image information using position information, and the display processing unit is configured to process the detailed image information and the second image information based on the first image information. and the wide-area image information based on the first image information and the wide-area image information based on the second image information are displayed so as to be adjacent to each other. It is an image processing program that displays.

The image processing system of the ninth invention can be realized by loading and executing the program of the invention into a computer. That is, an image processing program for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion, wherein the image processing program causes a computer to process the first detailed image. A first display format in which information and second detailed image information are displayed side by side without performing expansion/contraction processing. This image processing program functions as a display processing unit that performs display processing in a second display format in which two pieces of detailed image information are displayed side by side .

By using the present invention, an image processing system that does not cause omission of image information even if fluctuation occurs in the transverse direction during photographing becomes possible. In addition, we have invented an image processing system that enables immediate visual confirmation of photographed results.

1 is a block diagram schematically showing an example of the overall configuration of an image processing system of the present invention; FIG. 1 is a block diagram schematically showing an example of the hardware configuration of a computer used in the image processing system of the present invention; FIG. 4 is a flow chart showing an example of a processing process of image information processing in the image processing system of the present invention; 4 is a flow chart showing an example of a detailed image information processing process in the image processing system of the present invention; 5 is a flow chart showing an example of a wide area image information processing process in the image processing system of the present invention. 1 is a side view of a vehicle mounted with a device for measuring image information and position information to be processed by the image processing system of the present invention; FIG. FIG. 2 is a rear view of a vehicle mounted with a device mounted on a moving body for measuring image information and position information to be processed by the image processing system of the present invention; FIG. 2 is a block diagram schematically showing an example of a configuration of a device mounted on a mobile body; FIG. It is a figure which shows the relationship between the imaging|photography by an imaging device, and irradiation of the light by an illuminating device. FIG. 5 is a diagram schematically showing expansion/contraction processing for adjusting expansion/contraction of photographed image information; FIG. 10 is a diagram schematically showing shear deformation processing for photographed image information; FIG. 2 is a diagram schematically showing a case where the road surface of a runway is divided into courses, and a mobile body runs on each course and an image is captured by a mobile-body-mounted device. FIG. 2 is a diagram schematically showing a state in which lane image information captured by a moving object running on a course drawn by the moving object is arranged in chronological order so that position information corresponds to the lane image information; An example of a state in which lane lines and margin lines are identified and displayed in captured image information is shown. An example of detailed image information is shown. An example of wide-area image information is shown. It is a figure which shows typically correction|amendment of a positional information. It is a figure which shows an example when a detailed display process is performed. It is a figure which shows an example when wide display processing is performed. It is a figure which shows an example of a display screen. FIG. 4 is a diagram showing an example of wide-area image information displayed in a display area B of a display screen; FIG. 10 is a diagram showing an example of detailed image information displayed in a display area C of a display screen; It is a figure which shows an example of a course when there exists a curved part. FIG. 7 is a diagram schematically showing an example of display of captured image information of lanes in an actual distance display mode; FIG. 10 is a diagram schematically showing an example of display of captured image information of lanes in a kilometer post display mode; FIG. 2 is a diagram schematically showing a case in which a road surface to be photographed is divided into courses, and a moving object travels along each course to photograph the road surface; FIG. 10 is a diagram schematically showing a process of identifying corresponding points of adjacent image information in image information combining process; FIG. 10 is a diagram schematically showing a process of affine transforming image information of regions included in triangles having matching points in the image information synthesizing process and synthesizing the image information with each other.

FIG. 1 shows a block diagram of an example of the overall configuration of the image processing system 1 of the present invention. Also, FIG. 2 shows a block diagram of an example of the hardware configuration of a computer used in the image processing system 1 of the present invention.

The image processing system 1 associates image information (photographed image information) photographed by a device mounted on a mobile body 2, which will be described later, with measured position information, and executes display processing thereof. Further, the image processing system 1 records each piece of information photographed and measured by the device 2 mounted on the mobile object in the recording device 23, and executes processing based on the information recorded therein. The processing of the image processing system 1 is realized by computers such as servers, personal computers, and portable communication terminals such as smartphones and tablet computers.

The computer includes an arithmetic unit 70 such as a CPU for executing arithmetic processing of a program, a storage device 71 such as a RAM or hard disk for storing information, a display device 72 such as a display, an input device 73 for inputting information, It has a communication device 74 for communicating the processing result of the arithmetic device 70 and the information stored in the storage device 71 . If the computer has a touch panel display, the display device 72 and the input device 73 may be integrated. Touch panel displays are often used in portable communication terminals such as tablet computers and smartphones, but are not limited to these.

The touch panel display is a device in which the functions of the display device 72 and the input device 73 are integrated in that input can be performed directly on the display using a predetermined input device (such as a pen for touch panel) or a finger.

The computer of the image processing system 1 may be a single computer, or its functions may be realized by a plurality of computers. The computer in this case may be, for example, a cloud server.

Each means in the image processing system 1 of the present invention is only logically distinguished in its function, and may physically or practically form the same area.

The image processing system 1 preferably executes processing based on image information captured by the device 2 mounted on a mobile body, but is not limited to this.

The moving body mounting device 2 is a device mounted on a moving body such as a vehicle C running on a road surface, and includes at least one or more imaging devices 20 for imaging the road surface and two or more imaging devices 20. A synchronizing device 22 for synchronizing each photographing device 20 to perform photographing, a position information measuring device 21 for measuring position information, photographed image information and photographing time taken by the photographing device 20, and measured by the position information measuring device 21 and a recording device 23 for recording position information and time.

6 and 7 show an example of a vehicle C as a mobile body on which the mobile body mounting apparatus 2 is mounted. FIG. 6 is a side view of the vehicle C on which the mobile body-mounted device 2 is mounted, and FIG. 7 is a rear view of the vehicle C on which the mobile body-mounted device 2 is mounted. FIG. 8 is a block diagram showing an example of the configuration of the mobile body mounting device 2. As shown in FIG.

The photographing device 20 is a device for photographing the road surface on which the moving object moves, and includes at least one or more. It should be noted that FIGS. 6 and 7 show a case in which two imaging devices 20 are provided. A line sensor can preferably be used as the imaging device 20, but it is not limited to this. The line sensor captures the road surface condition line by line. For example, every 1 mm of movement, a 1 mm portion of the road surface is photographed. A rangefinder may be used to detect the movement distance. That is, when the rangefinder detects that the object moves by 1 mm, the photographing device 20 takes an image. The line sensor has a lens and a line sensor element. The line sensor lens is directed toward the road surface so that the road surface can be photographed. A line sensor forms an image of a road surface on a line sensor element through a lens, converts the amount of light into a video signal, and outputs the video signal as image information. Each image information captured by the line sensor is image information for 1 mm. Therefore, the line sensor connects image information for a predetermined number of unit sheets (for example, 1000 sheets) and records it as one piece of image information in the recording device 23, which will be described later. The image information for this unit number is used as captured image information (or frame).

When the photographing device 20 starts photographing the road surface, the position information measuring device 21 uses a predetermined PPS signal to send a measurement start command to the photographing device 20 . The photographing device 20 that has received this command starts photographing, resets the built-in timer means to "0", and starts clocking. Then, when a predetermined unit number of images, for example, 1000 images are taken by the photographing device 20, the time (relative time) measured by the time measuring means is recorded in association with the photographed image information. Then, the clocking means continues clocking, and records the time when the image information for the next unit number of images is captured in association with the captured image information. This is repeated until the shooting ends. That is, every time the photographing device 20 photographs a unit number of image information, the time measured by the clock means (relative time) is recorded and associated with the photographed image information. The time required to capture each unit of image information can be calculated by calculating the difference between the relative times recorded in association with the captured image information. In this way, the timing at which the photographing device 20 starts photographing and the timing at which the position information and time information are acquired by the position information measuring device 21 are synchronized. It can be calculated by adding the calculated time to the position information acquired by the information measuring device 21 . The time information for each piece of captured image information may be calculated during the processing of the image information processing unit 10, which will be described later, or may be calculated when the image capturing device 20 records the captured image information in the recording device 23. can be done in time.

The recording of the time required to shoot the image information of the above-mentioned unit number is performed by measuring the time required for shooting each unit number by the timing means and recording the shooting order in correspondence with the shooting image information. or other methods.

Note that when a normal optical camera or the like is used as the photographing device 20 without using a line sensor, the photographed image information is the photographed image information, and the time information for each piece of photographed image information must be recorded. Just do it.

The moving body mounting device 2 is provided with a synchronizing device 22 when there are two or more imaging devices 20 . The synchronizing device 22 synchronizes the photographing timings of at least two or more photographing devices 20 in the mobile body mounted device 2 to photograph the road surface.

The positional information measurement device 21 is, for example, a GPS device, measures its positional information, and acquires time information. The position information is preferably latitude and longitude, but is not limited to this. The position information and time information measured by the position information measuring device 21 are recorded in a recording device 23, which will be described later. The position information measurement device 21 can use a highly accurate GPS receiver such as "Hemishere A101".

The position information measuring device 21 acquires position information and time information at regular timings. For example, position information and time information are acquired at timings such as 10 times per second and 20 times per second.

The recording device 23 records captured image information captured by the imaging device 20 and position information measured by the position information measuring device 21 . The recording device 23 may be installed in the mobile object as part of the mobile object-mounted device 2, or may be installed outside the mobile object using a cloud server or the like.

The mobile body mounting device 2 may be attached to the mobile body in any way, and for example, as shown in FIGS. 6 and 7, it is preferable to attach it to the rear of the mobile body, but it is not limited to this. For example, it may be attached to the front of the moving body. The photographing device 20 is positioned behind the rear end of the moving body and photographs the road surface from above. The photographing device 20 is installed near the rear end of a metal mounting beam 26 (support) attached to a roof carrier 40 or the like of a moving body.

A position information measurement device 21 is attached near the attachment point of the imaging device 20 on the attachment beam 26 .

A post 25a protrudes downward from the vicinity of the imaging device 20 of the mounting beam 26 toward the road surface side, and is joined to the lighting device 24 in the vicinity of its upper end. Also, the lighting device 24 is joined to posts 25b and 25c projecting upward from a lighting support base 27 provided on the lower rear end side of the moving body. The strut 25b is joined near the lower part of the lighting device 24, and the strut 25c is joined near the upper part of the lighting device 24. As shown in FIG. Any method may be used to support the lighting device 24 .

The illumination device 24 irradiates the road surface with parallel light or nearly parallel light from a light source such as an LED. The illumination device 24 irradiates the road surface with nearly parallel light in order to illuminate the road surface so as to produce a sharp and homogeneous shadow against the deformation of the road surface. Therefore, the light source is preferably an LED with high directivity, but is not limited to this. If the angle of irradiation with parallel light is close to horizontal, the shadow will be too large, and if it is close to vertical, no shadow will be generated. The direction of inclination should be matched to the characteristics of the road surface to be photographed. FIG. 9 shows the relationship between the photographing by the photographing device 20 and the irradiation of light by the lighting device 24 . FIG. 9(a) is a diagram showing the relationship between the photographing by the photographing device 20 from the rear of the moving body and the irradiation of light by the illumination device 24, and FIG. 3 is a diagram showing the relationship between , and irradiation of light by the illumination device 24. FIG. The interval A between the photographing devices 20 depends on the range in the width direction to be photographed, the positional relationship of the height at which the photographing devices 20 are mounted, and the angle of view of the photographing devices 20. Assuming that the distance from the road surface is about 140 cm and the angle of view of the photographing device 20 is about 90 degrees, the distance A between the photographing devices 20 is preferably about 10% of the distance to the road surface, for example about 14 cm.

Note that the relationship between the dimensions and angles described above is merely an example, and the dimensions and angles may be adjusted so as to have suitable relationships.

A projection device 30 for projecting the traveling direction of the moving body onto the road surface is provided in front of the moving body. The moving body is provided with a management computer (not shown), and the projecting device 30 projects guide information (guide information indicating a travel route (course) along which the moving body should travel) specified by the management computer. The processing in the management computer and the processing of projecting the guide information from the projection device 30 can use, for example, the technology described in Japanese Patent Application Laid-Open No. 2017-090189, but is not limited thereto.

A management computer (not shown) can be implemented by, for example, the following processing. Latitude, longitude information, and traveling direction information are acquired by a device for acquiring position information such as a GPS device (which may also be used as the position information measuring device 21 of the mobile body mounted device 2). Space information (virtual space information) obtained by two-dimensionally or three-dimensionally modeling part or all of the real space (the space with the road surface to be photographed) in which travel guidance is performed is also stored. At this time, the virtual space information is divided into length and width directions at predetermined intervals, and the length direction is expressed by the distance from the predetermined position of the shooting range of the road surface to be shot (for example, 0 to 3000 in units of meters). , the width direction is represented by a course number for each predetermined width considering the shooting range from the reference position in the width direction (for example, the course number 0 in the center is used as the reference, and the course numbers on the left and right are set from -10 to +10). . Then, based on the acquired position information and traveling direction information, a part of the corresponding information of the virtual space is projected from the projection device 30 onto the road surface in front of the traveling direction of the moving body. The driver of the mobile body drives the mobile body according to the guide information of this course.

The driving route (course) may be guided by using such a projection device 30 or by a method other than processing by a management computer, such as a car navigation system.

The image processing system 1 displays the captured image information on the display device 72 using the captured image information, position information, and time information recorded by the device 2 mounted on the mobile object. The computer that executes the processing of the image processing system 1 may be mounted on the moving body on which the moving body mounting device 2 is mounted, or may not be mounted on the moving body.

The image processing system 1 has an image information processing section 10 , a position information processing section 11 , an image information storage section 12 and a display processing section 13 .

The image information processing section 10 acquires the photographed image information recorded in the recording device 23 of the device mounted on the mobile object 2, and stores it in the image information storage section 12, which will be described later. The image information processing unit 10 may perform correction processing on the captured image information as necessary.

When there are a plurality of image capturing devices 20, the image information processing unit 10 selects one of the image capturing devices 20, and connects the captured image information captured by the selected image capturing device 20 in chronological order, so that the road surface is displayed. Image information can be obtained by making the surface continuous.

Note that when there are a plurality of image capturing devices 20, the image information processing unit 10 may trim only the common image capturing range of the image information captured by each.

The image information processing unit 10 adjusts the expansion/contraction of the photographed image information and executes expansion/contraction processing for correcting the size. Since there is an error in the rangefinder of a moving object, this error is corrected by expanding or contracting the captured image information. For example, if there is a 1% error in a rangefinder that measures in units of 1 mm, a 3000 m runway will have an error of 30 m between the start and end points. Therefore, when the photographed image information is arranged continuously as it is, the position information corrected by the position information processing unit 11, which will be described later, is used to adjust the expansion and contraction of the photographed image information. Minimize deviation.

FIG. 10 schematically shows this processing. FIG. 10 shows a case where a line sensor is used as the imaging device 20 . First, the image information processing unit 10 arranges the photographed image information in order of photographing time. Since the timing (rt0) at which imaging by the imaging device 20 is started and the time information (at0) by the positional information measuring device 21 are synchronized, the imaging device starts from the time when the time information is acquired by the positional information measuring device 21. 20 has started shooting. Relative times (rt1, rt2, rt3, . On the other hand, the position information measurement device 21 acquires position information and time information at predetermined intervals, for example, 10 or 20 times per second. When the number of sheets is 1 m) when the number of sheets is 1000, the position information is not necessarily acquired by the position information measuring device 21 .

Therefore, the image information processing unit 10 calculates position information corresponding to the end of the captured image information. Specifically, for example, in the photographed image information 2, there is a position corresponding to the end of the photographed image information 2 between the time information at6 and at7 acquired by the position information measuring device 21. FIG. Therefore, position information P6 (C in FIG. 10) at time information at6 acquired by the position information measuring device 21 and position information P7 at time information at7 acquired by the position information measuring device 21 (B in FIG. 10) , the position corresponding to the end of the captured image information 2 (A in FIG. 10) can be calculated by proportional allocation.

There are various methods for calculating the proportional distribution. Time information at the position A corresponding to the end of the captured image information 2 can be specified by adding the relative times rt1 and rt2 for each time. By proportionally distributing the time information specified here and the time information at6 and at7 acquired by the position information measuring device 21, the ratio can be specified. By calculating the position information P7 using the above ratio, the position information of the position A corresponding to the end of the captured image information 2 can be specified.

In this way, if the position information for each shot image information can be specified, the shot image information can be obtained by comparing the start position of the shot image information (the start position is the end position of the adjacent previous shot image information) and the end position. can be calculated. On the other hand, the photographing device 20 has a width of 1 m because it is composed of image information of a predetermined number of sheets, for example, 1000 sheets of 1 mm. Then, the actual distance calculated above is compared with the width of 1 m based on the number of predetermined units and the photographing width, and the difference between them becomes the expansion/contraction rate of the photographed image information. For example, if the actual distance is 1010 mm, there is a deviation of 1%, so processing is performed to extend the captured image information by 1%. By executing this process for each captured image information, the captured image information is expanded or contracted so that it matches the distance based on the highly accurate position information measured by the position information measuring device 21, and the size of the captured image information is adjusted. can be corrected.

Further, the image information processing unit 10 also executes a shearing deformation process for correcting a lateral shift with respect to the moving direction of the moving object. This can be done by executing shearing deformation processing based on changes in positional information in the lateral direction with respect to the traveling direction between the start position and the end position of the captured image information. This processing is schematically shown in FIG.

The image information processing unit 10 may perform appropriate necessary correction processing such as trapezoidal correction processing, noise removal processing, etc., in addition to stretching processing, shearing deformation processing, etc., on the photographed image information as described above.

Further, as shown in FIG. 12, for example, when the road surface of the runway is divided into course 1 and course 2, and the moving body travels on each course and performs photographing by the moving body mounted device 2, the course 1 is run. The position information corresponds to the captured image information of lane 1 captured by (including the captured image information after correction; the same applies in this specification) and the captured image information of lane 2 captured by traveling on course 2. FIG. 13 shows the state in which they are arranged in chronological order. The reason why the photographed image information after correction also fluctuates is that there is fluctuation in the transverse direction that cannot be corrected even by the shear deformation process. It should be noted that the hatched portions in FIG. 12 and subsequent figures are added to facilitate understanding of the relationship between the lanes.

Therefore, the image information processing unit 10 sets a lane line L indicating a lane area and a margin line M indicating a margin area for the captured image information. As described above, the lane area is the area of the road surface that must be photographed as the mobile body travels on the course, and is set with an arbitrary width from the photographing range of the photographing device 20 . Here, ideally, the positional information in the transverse direction of the course coincides with the positional information of the center in the transverse direction of the lane area. Therefore, the position corresponding to the position information in the transverse direction of the course is specified from the photographed image information, and the lane line L is set at a predetermined width in the transverse direction (for example, 100 cm left and right from the center in the transverse direction). , the region of the lane. A margin area is an area of a certain width (e.g., 20 cm outside the lane line L) provided on the left, right, or either side of the lane area in consideration of fluctuations in the transverse direction of the lane when a mobile object travels. be. Therefore, the margin area is inside the lane area of the adjacent lane. FIG. 14 shows a state in which lane lines L and margin lines M are specified and displayed in the captured image information. Although the margin area is provided outside the lane area here, the margin area may be provided inside the lane area. In that case, the lane line L and the margin line M are read in reverse in the following processing.

The width of the margin area is determined by the running accuracy of the moving object. For example, when a moving object is automatically traveling, the accuracy corresponding to the deviation in the left and right direction in automatic traveling, and when a person drives the moving object based on the traveling guide by the projection device 30, the person It is set arbitrarily based on the accuracy according to skill. The width of the range photographed by the photographing device 20 is at least the width of the lane area plus the left and right margin widths. When the width of the range photographed by the photographing device 20 is fixed, the width of the lane area can be obtained by subtracting the width set as the margin width from the width of the photographing range. When the width of the lane area is 200 cm and the width of the margin is 20 cm on each side, the width of the image captured by the imaging device 20 is set to 240 cm or more.

The image information processing unit 10 trims the area of the image information outside the margin line M, and performs predetermined processing such as blacking out the area inside the margin line M that cannot be photographed. image processing, and stored in the image information storage unit 12 as detailed image information. FIG. 15 shows an example of detailed image information. FIG. 15(a) shows detailed image information of Lane 1 based on the captured image information of Lane 1 captured by the moving object running on Course 1, and FIG. 2 is detailed image information of Lane 2 based on the captured image information of Lane 2 captured in . Further, the image information processing unit 10 trims the area of the image information outside the lane line L and stores it in the image information storage unit 12 as wide area image information. FIG. 16 shows an example of wide-area image information. FIG. 16(a) shows the wide area image information of lane 1 based on the captured image information of lane 1 captured by the moving object running on course 1, and FIG. This is wide-area image information of lane 2 based on the captured image information of lane 2 captured in .

The position information processing unit 11 acquires the position information and time information recorded in the recording device 23 of the moving body mounted device 2, and transfers the position information measured by the position information measuring device 21 to the photographing device 20 (there are a plurality of photographing image devices). In this case, the captured image information is corrected to the position information of the image capturing device 20) that captured the image. Correction of the position information is performed by adjusting the positional information acquired by the position information processing unit 11 by adjusting the amount of positional deviation between the imaging device 20 to be corrected and the positional information measuring device 21 (the separation between the imaging device 20 and the positional information measuring device 21). horizontal offset). FIG. 17 schematically shows this.

In the image information processing unit 10, when there are a plurality of photographing devices 20 and only the common photographing range of the photographed image information photographed by each of the photographing devices 20 is trimmed, the center of the obtained image information is , and the center lines of the photographing devices 20a and 20b, the correction processing of the position information processing unit 11 need not be executed.

The image information storage unit 12 stores image information such as photographed image information, wide area image information, and detailed image information. Each piece of image information is associated with position information.

The display processing section 13 executes display processing based on the image information stored in the image information storage section 12 . Based on the image information stored in the image information storage unit 12, the display processing unit 13 arranges and displays the road surfaces to be photographed for each course. As the display processing at this time, a detailed display processing for displaying details of the road surface to be photographed and a wide-area display processing for displaying a wider range than the detailed display are performed.

The detailed display processing is a display processing for arranging and displaying the detailed image information, which is image information obtained by trimming the outside of the margin area of the photographed image information, for each course. FIG. 18 shows an example of detailed display processing. As shown in FIG. 18, when the detailed image information is displayed side by side for each course, the detailed image information based on the photographed image information of each lane photographed by traveling on each course is displayed with the margin line M for each course. are displayed side by side as separator lines. Therefore, the line that distinguishes the courses is the margin line M, and the line inside the margin line is the lane line L. Although detailed image information is displayed adjacent to each course in FIG. 18, they may not be adjacent to each other.

The wide-area display processing is display processing for arranging and displaying, for each course, wide-area image information, which is image information obtained by trimming the outside of the lane area of the photographed image information. FIG. 19 shows an example of wide-area display processing. As shown in FIG. 19, when the wide-area image information is arranged and displayed for each course, the wide-area image information based on the photographed image information of each lane photographed by traveling on each course is displayed on each course along the lane line L. are displayed side by side as separator lines. Therefore, the lines that distinguish the courses are the lane lines L, and the margin areas and the image information of the margin areas are not displayed. In FIG. 19, the wide-area image information is displayed adjacent to each other for each course, but they do not have to be adjacent.

For example, if there is a runway with a width of 60 meters and it is divided into courses with a width of 2 meters, it will be divided into 60 courses. When the margin width is 20 cm, the lane width is 2 meters, so the photographing device 20 will photograph at least 240 cm (=200 cm+20 cm+20 cm). Then, in the detailed display process, the detailed image information of 240 cm width is arranged in order of course and displayed. Also, in wide-area display processing, wide-area image information with a width of 200 cm is arranged in order of course and displayed.

The display processing unit 13 performs detailed display processing and wide-area display processing based on detailed image information and wide-area image information generated in advance by the image information processing unit 10 and stored in the image information storage unit 12. Instead of generating detailed image information and wide-area image information in the image information processing unit 10, detailed image information and wide-area image information may be generated and displayed based on captured image information during display processing. Alternatively, only the detailed image information may be generated in advance and stored in the image information storage unit 12, and the wide area image information may be generated and displayed during display processing.

The display processing unit 13 displays a display screen that interlocks or switches between detailed display and wide-area display. FIG. 20 shows an example of a display screen on which detailed display and wide-area display are displayed in conjunction with each other.

The display screen in FIG. 20 includes a display area A in which the entire road surface (runway) to be photographed is divided into blocks in the direction of travel and in the transverse direction for selection, a display area B in which wide-area display processing is performed, A case is shown in which there are four display areas: a display area C for detailed display processing, and a display area D for displaying information about irregularities such as unevenness on the road surface.

When the display processing unit 13 receives that the block A1 at the position where the image information is to be displayed is selected in the display area A, the wide area image information corresponding to the position information is extracted from the image information storage unit 12 and displayed. Display in area B. In the display area B, when the selection of the area B1 desired to be displayed in detail is accepted, the corresponding detailed image information is extracted from the image information storage unit 12 based on the position information of the center of the selected area, and the display area is displayed. Display on C.

FIG. 21 shows an example of display in the display area B as wide-area image information. An example of displaying detailed image information in the display area C is shown in FIG. In FIGS. 21 and 22, in order to make it easier to understand the difference in the areas displayed in the wide area display process and the wide area display process, image information in almost the same area is displayed at almost the same scale. In practice, the wide area display process and the detailed display process may be displayed at different scales.

As the information related to anomalies such as unevenness of the road surface displayed in the display area D, each anomaly is associated with the type of anomaly (cracks, etc.), size, position information, etc. 13 extracts wide area image information and detailed image information at the corresponding position from the image information storage unit 12 based on the position information of the selected abnormality. Display each in C.

Next, an example of the processing process of the image processing system 1 of the present invention will be described with reference to the flow charts of FIGS. 3 to 5. FIG. In the following description, a vehicle C is used as a moving object, and a runway road surface is used as an object to be photographed. It may be a body, and the object to be photographed may be a surface of a runway, a surface of a road, or other objects.

In order to photograph image information to be processed by the image processing system 1 of the present invention, a moving object mounting device 2 is attached to the rear of a vehicle C. As shown in FIG. Then, the vehicle C runs on the runway to be photographed. When the vehicle C runs on the runway, a management system (not shown) projects a running guide onto the road surface from a projection device 30 installed in front and above the vehicle C, and the vehicle runs according to the course, and is mounted on the mobile body. A road surface is photographed by the device 2 .

When traveling on the runway, the positional information measuring device 21 in the mobile body mounted device 2 acquires positional information and time information periodically (for example, 10 times or 20 times per second). The acquired position information and time information are recorded in the recording device 23 in association with each other. Further, each photographing device 20 photographs the road surface of the runway when the movement of the vehicle C by a predetermined photographing unit, for example, 1 mm is measured by a rangefinder. The relative time or the time information measured by the position information measuring device 21 and the time information calculated using the relative time are associated with each photographed image information photographed by each photographing device 20 and recorded in the recording device 23. . In addition, when there are two or more photographing devices 20a and 20b in the mobile body mounting device 2, the photographing devices 20a and 20b are synchronized by the synchronization device 22, and the photographed image information of which photographing device 20 is used. It is possible to identify whether or not there is one for each photographing device 20 . The identification information of the photographing device 20 may be attached to the photographed image information, or the folders for storing the photographed image information may be divided for each photographing device 20 .

As described above, as the vehicle C runs on the runway, the photographed image information of the runway road surface photographed, the relative time or time information, and the position information and time information are recorded in the recording device 23 .

Then, the image processing system 1 executes each process based on the captured image information and the relative time or time information of the image capturing device 20 and the position information and time information recorded in the recording device 23 . The processing of the image processing system 1 may be batch processing or real-time processing. When the recording device 23 is provided in the vehicle C, the computer constituting the image processing system 1 may acquire information from the recording device 23 by wire or wirelessly, or may be provided outside the vehicle C, for example, in a cloud server. In that case, the computer that configures the image processing system 1 may acquire the information from the cloud server.

First, the image information processing section 10 acquires the photographed image information recorded in the recording device 23 of the device mounted on the mobile body 2 (S100). Then, the obtained photographed image information and its relative time or time information are associated with each other. Further, the image information processing unit 10 connects the captured image information captured by the imaging device 20 in chronological order. As a result, captured image information obtained by continuously capturing the runway can be generated.

The position information processing unit 11 acquires the position information and the time information from the recording device 23 of the mobile object-mounted device 2 (S110). Correction is made to the position information of the imaging device 20 used for the image information. The position information used in subsequent processing is the position information after correction (position information of the photographing device 20).

Then, the image information processing unit 10 associates the position information and the time information corrected by the position information processing unit 11 with the photographed image information arranged in time series, and expands and contracts the photographed image information by the image information processing unit 10. , performs shear deformation processing. Note that part or all of the correction processing may not be performed.

First, the time information is calculated based on the time information acquired by the position information measuring device 21 and the relative time for each captured image information. Then, the terminal position of each captured image information is calculated by proportional distribution using the time information and the position information acquired by the position information measuring device 21 . Note that the end position of the captured image information can be used as the start position of the adjacent captured image information. By comparing the distance based on the difference in positional information in the traveling direction between the start position and the end position of the captured image information calculated in this way, and the distance based on the number of predetermined units and the captured image information based on the shooting width, , the expansion/contraction ratio of the photographed image information is calculated, and expansion/contraction is performed.

Further, shear deformation processing of the photographed image information is executed based on the distance based on the difference in positional information in the lateral direction with respect to the advancing direction between the start position and the end position of the photographed image information.

By executing the above processing, it is possible to associate the photographed image information obtained by photographing the road surface of the runway with the position information.

When the correction process is executed in this way, the image information processing unit 10 sets the lane line L indicating the lane area and the margin line M indicating the margin area in the captured image information (S120). Then, detailed image information and wide area image information are generated (S130).

First, the image processing unit trims the area of the image information outside the margin line M (S200), and blackens the area inside the margin line M that cannot be photographed. (S210), and stored in the image information storage unit 12 as detailed image information (S220). Also, the image processing section trims the area outside the lane line L (S300) and stores it in the image information storage section 12 as wide area image information (S310). In addition, since the lane area is inside the margin area, there is almost no area where shooting cannot be performed, but if there is an area where shooting cannot be performed due to some obstacle, , and a predetermined image processing such as blackening may be added.

After the wide-area image information and the detailed image information are stored in the image information storage unit 12 in this way, when it is desired to check the image information of the captured runway road surface, a predetermined operation is performed, and the display processing unit 13 displays a display screen as shown in FIG. 20 (S140).

When the selection of the position to be displayed is received in the display area A of the display screen, the display processing unit 13 extracts the wide area image information corresponding to the position information from the image information storage unit 12 and displays it in the display area B. Further, when the selection of the detailed image information area B1 from the wide area image information is accepted, the detailed image information corresponding to the position information is extracted from the image information storage unit 12 and displayed in the display area C. FIG.

Specifically, the display processing unit 13 extracts the wide-area image information corresponding to the position information from the image information storage unit 12, and displays each of the adjacent courses so that the lane line L becomes a line indicating the division of the course. The wide-area image information of the lane corresponding to the course is displayed in the display area B. Further, the display processing unit 13 extracts the detailed image information corresponding to the position information from the image information storage unit 12, and arranges each adjoining course corresponding to each course so that the margin line M becomes a line indicating the division of the course. The detailed image information of the lane is displayed in the display area C. When displaying detailed image information in the display area C, different colors, different line types (straight lines, broken lines, dashed-dotted lines, dashed-two-dotted lines, etc.), and different thicknesses are used so that the margin lines M and the lane lines L can be distinguished. It is preferable to display by . In addition to distinguishing the margin lines M and the lane lines L, it is preferable that the margin area and the lane area can be distinguished. For example, the margin area and the lane area are displayed in different colors, the margin area and the lane area are displayed, and a mark is added.

As a result, wide area image information can be confirmed when a wide range is desired to be confirmed, and detailed image information can be confirmed when detailed confirmation is desired. Especially in the detailed image information, since the margin line M serves as a course delimiter, the margin areas are superimposed and displayed. As a result, irregularities such as irregularities at the boundaries of the course are not overlooked. In addition, since there is no need to synthesize the image information of adjacent courses, it is possible to display the image information with a simple process without requiring a long processing time.

The road surface has not only straight parts but also curved parts. At an airport, for example, planes travel down a taxiway as they move from the parking lot to the runway. Therefore, in the present embodiment, a case of performing screen display in the case of a road surface with a curved portion will be described. FIG. 23 shows an example of a course with curved portions.

Taxiways and other road surfaces are marked with center lines (lines that divide the road surface at a certain width, such as the center line) and kiloposts (distance markers). Therefore, the course along which the moving object travels is set so as to draw a curved line separated by a certain distance in the direction perpendicular to the center line. Note that the curved line may be a polygonal line.

Along the course set in this manner, the moving body moves in the same manner as in the first embodiment, and the moving body mounting device 2 photographs the road surface. In this case, since the moving object mounting device 2 photographs the road surface in the transverse direction of the moving object, the photographed image information of the lane corresponding to each course becomes a long rectangle. Strictly speaking, there is a distortion in the distance between the left and right sides of the moving object when traveling on a curved section, but since the turning radius of taxiways and roads is generally sufficiently large, localization of captured image information distortion is not a problem.

However, when traveling on the inner course of the curved portion and the outer course, there is a difference in the photographing distance, so the length of the photographed image information of the lane corresponding to the course changes. Therefore, in the present embodiment, the display processing unit 13 can switch between two display methods, ie, the actual distance display mode and the kilometer post display mode.

In the actual distance display mode, the image information stored in the image information storage unit 12 is processed in the same manner as in the first embodiment without performing expansion/contraction processing so that the length of the photographed image information between kilometer posts (unit distance) becomes constant. It is a method of arranging in FIG. 24 schematically shows the actual distance display mode. In FIG. 24, the right side is the start point and the left side is the end point, but the display may be reversed horizontally or vertically. In the actual distance display mode, the actual distance traveled is displayed, so when displaying the captured image information on the display screen, it is possible to check irregularities such as unevenness in the same size as the actual size.

In the actual distance display mode, since the size of the image information is not expanded or contracted, the image information of either the inner course or the outer course of the curved portion is close to the actual size. Therefore, even if there are irregularities such as unevenness, there is an advantage that there is little error in measuring from the image information.

In the actual distance display mode, the display processing unit 13 superimposes a line at the position of the same kilometer post (unit distance) using the position information associated with each captured image information in order to clarify the corresponding positional relationship. and so on. This makes it possible to easily recognize the positional relationship of the same kilometer posts.

In the kilometer post display mode, the length of the captured image information between kilometer posts (unit distance) is fixed, and the image information is displayed after being stretched in the traveling direction. In this case, the expansion/contraction ratio between each kilometer post (for example, 0.87 times for the distance between 20m and 40m kilometer posts on course 1) is set in advance, and the image processing unit generates photographic image information in advance according to the expansion/contraction ratio. and store it in the image information storage unit 12 . Then, during display processing in the display processing unit 13, the stretched photographed image information is displayed. In addition to being displayed by the image processing unit, the captured image information may be expanded or contracted when displayed by the display processing unit 13 . FIG. 25 schematically shows the kilometer post display mode.

In the kilometer post display mode, the deviation in the transverse direction between courses is reduced, so it is useful for confirming the overall image of irregularities such as irregularities that exist across the course from the image information.

In this manner, the display processing unit 13 is preferably capable of switching between the actual distance display mode and the kilometer post display mode using icons, buttons, pull-down menus, or the like.

In the second embodiment, detailed image information and wide-area image information are generated in each display mode (actual distance display mode, kilometer post display mode) in the same manner as in the first embodiment, and detailed display processing and wide-area display processing are displayed. The processing unit 13 may execute this.

The present invention can be appropriately modified in design without departing from the gist of the present invention. Also, the processing is an example, and it is also possible to execute the processing in a different order. Furthermore, the display on the screen can also be changed as appropriate. Further, it may be possible to provide only a part of the functions without providing all the functions.

The problem of synthesizing the pieces of image information in the case of dividing one photographing object into a plurality of pieces of image information and photographing and displaying the pieces of image information is not limited to the case of photographing a road surface. Therefore, the image information processing and display processing in the image processing system 1 of the present invention can be applied not only to the image information obtained by photographing the road surface, but also to divide one photographing object into a plurality of pieces of image information, photograph and display them. It can also be applied when For example, it can be applied to various shooting objects such as buildings, tunnels, and bridge piers.

By using the image processing system 1 of the present invention, image information is not lost even if fluctuation occurs in the transverse direction during photographing. Also, if you want to see the photographed result immediately, you can check it immediately.

1: Image processing system 2: Device mounted on mobile object C: Vehicle 10: Image information processing unit 11: Position information processing unit 12: Image information storage unit 13: Display processing unit 20: Photographing device 21: Position information measuring device 22: Synchronization Device 23: Recording device 24: Lighting device 25: Support 26: Mounting beam 27: Lighting support base 30: Projecting device 40: Roof carrier 70: Computing device 71: Storage device 72: Display device 73: Input device 74: Communication device

Claims (15)

An image processing system for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion,
The image processing system is
A lane area that is an area of the road surface that must be photographed, specified in the first detailed image information and the second detailed image information , and a lane area that is provided outside of either one of the left and right sides of the lane area The first detailed image information and the second detailed image information are arranged so that the margin area in the first detailed image information is positioned next to the second detailed image information based on the margin area, which is an area having a constant width. 2, a display processing unit for displaying detailed image information,
Part or all of the shooting range of the margin area in the first detailed image information is included in part or all of the shooting range of the lane area in the second detailed image information,
The display processing unit
A first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion/contraction processing , and a first display format in which the length of the image information is expanded/contracted so that the length of the image information between unit distances is constant. perform display processing in a second display format that displays the detailed image information and the second detailed image information side by side ,
An image processing system characterized by: An image processing system for first detailed image information and second detailed image information obtained by photographing adjacent ranges of an object to be photographed,
The image processing system is
A lane area that is an area of the road surface that must be photographed, specified in the first detailed image information and the second detailed image information , and a lane area that is provided outside of either one of the left and right sides of the lane area The first detailed image information and the second detailed image information are arranged so that the margin area in the first detailed image information is positioned next to the second detailed image information based on the margin area, which is an area having a constant width. a display processing unit that displays the detailed image information of 2 in correspondence with the position information ,
Part or all of the shooting range of the margin area in the first detailed image information is included in part or all of the shooting range of the lane area in the second detailed image information,
An image processing system characterized by: The display processing unit
displaying the first detailed image information and the second detailed image information such that the margin area in the first detailed image information is positioned next to the margin area in the second detailed image information; do,
3. The image processing system according to claim 1, wherein: The display processing unit further
displaying the first detailed image information and the second detailed image information such that the lane area in the first detailed image information is positioned next to the lane area in the second detailed image information; do,
4. The image processing system according to claim 1, wherein: The display processing unit further
displaying the first detailed image information and the second detailed image information such that the margin area in the first detailed image information is positioned next to the margin area in the second detailed image information; display format and
The first detailed image information and the second detailed image information are displayed such that the lane area in the first detailed image information is positioned adjacent to the lane area in the second detailed image information. The display format can be switched between
5. The image processing system according to claim 4, wherein: The display processing unit
displaying the lane area and the margin area in a distinguishable manner;
6. The image processing system according to any one of claims 1 to 5, characterized by: The display processing unit
displaying the first detailed image information and the second detailed image information in a distinguishable manner;
7. The image processing system according to any one of claims 1 to 6, characterized by: An image processing system for first image information and second image information obtained by photographing adjacent ranges of an object to be photographed,
The image processing system is
Regarding the first image information and the second image information , the lane area, which is the area of the road surface that must be photographed, and the constant width area provided on the left and right or either one of the lane area an image information processing unit that identifies a certain margin area, trims an area outside the margin area to generate detailed image information, and trims an area outside the lane area to generate wide-area image information; ，
a display processing unit that performs display processing by associating the first image information and the second image information using position information;
The display processing unit
displaying the detailed image information based on the first image information and the detailed image information based on the second image information so as to be adjacent to each other;
displaying the wide-area image information based on the first image information and the wide-area image information based on the second image information so as to be adjacent to each other;
An image processing system characterized by: An image processing system for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion,
The image processing system is
A first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion and contraction processing , and a first display format in which the length of the image information between unit distances is expanded and contracted so that the length is constant. A display processing unit that performs display processing in a second display format that displays the detailed image information and the second detailed image information side by side,
An image processing system comprising: The display processing unit
In the first display format, the positional relationship of the corresponding unit distance is displayed so as to be identifiable,
10. The image processing system according to claim 1, wherein: The display processing unit
the first display format and the second display format are switchable;
11. The image processing system according to claim 1, 9 or 10, characterized in that: An image processing program for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion,
The image processing program causes a computer to:
A lane area that is an area of the road surface that must be photographed, specified in the first detailed image information and the second detailed image information , and a lane area that is provided outside of either one of the left and right sides of the lane area The first detailed image information and the second detailed image information are arranged so that the margin area in the first detailed image information is positioned next to the second detailed image information based on the margin area, which is an area having a constant width. function as a display processing unit that displays the detailed image information of 2,
Part or all of the shooting range of the margin area in the first detailed image information is included in part or all of the shooting range of the lane area in the second detailed image information,
The display processing unit
A first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion and contraction processing , and a first display format in which the length of the image information between unit distances is expanded and contracted so that the length is constant. perform display processing in a second display format that displays the detailed image information and the second detailed image information side by side ,
An image processing program characterized by: An image processing program for first detailed image information and second detailed image information obtained by photographing adjacent ranges of an object to be photographed,
The image processing program causes a computer to:
A lane area that is an area of the road surface that must be photographed, specified in the first detailed image information and the second detailed image information , and a lane area that is provided outside of either one of the left and right sides of the lane area The first detailed image information and the second detailed image information are arranged so that the margin area in the first detailed image information is positioned next to the second detailed image information based on the margin area, which is an area having a constant width. functioning as a display processing unit that displays the second detailed image information in correspondence with the position information ;
Part or all of the shooting range of the margin area in the first detailed image information is included in part or all of the shooting range of the lane area in the second detailed image information,
An image processing program characterized by: An image processing program for first image information and second image information obtained by photographing adjacent ranges of an object to be photographed,
The image processing program causes a computer to:
Regarding the first image information and the second image information , the lane area, which is the area of the road surface that must be photographed, and the constant width area provided on the left and right or either one of the lane area an image information processing unit that identifies a certain margin area, trims an area outside the margin area to generate detailed image information, and trims an area outside the lane area to generate wide-area image information;
functioning as a display processing unit that performs display processing by associating the first image information and the second image information using position information ;
The display processing unit
displaying the detailed image information based on the first image information and the detailed image information based on the second image information so as to be adjacent to each other;
displaying the wide-area image information based on the first image information and the wide-area image information based on the second image information so as to be adjacent to each other;
An image processing program characterized by: An image processing program for first detailed image information and second detailed image information obtained by photographing a road surface in an adjacent range including a curved portion,
The image processing program causes a computer to:
A first display format in which the first detailed image information and the second detailed image information are displayed side by side without performing expansion/contraction processing , and a first display format in which the length of the image information is expanded/contracted so that the length of the image information between unit distances is constant. A display processing unit that performs display processing in a second display format that displays the detailed image information and the second detailed image information side by side,
An image processing program characterized by functioning as

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