JPH0290015A - Measuring apparatus for coordinates of aerial photograph and measuring method therefor - Google Patents

Abstract

PURPOSE:To simplify an operation by using plumb points of the respective bases of measurement of a pair of photographs, by measuring on a line of intersection of a plane containing photographing points of the two photographs and a photograph plane and by converting photograph coordinates into geodetic coordinates. CONSTITUTION:Left and right photographs are mounted on a film support 2, and films are set normally in prescribed positions respectively and then set on apparatuses for the left and the right. After scanning lines and image lines thereof are checked up on the basis of pass points, X-values are observed at a step of 1mm from the maximum value to zero and from zero to the minimum value. The scanning lines are shifted and stopped according to a program instruction at each step, and during the stop, an image pickup device P is moved according to the program instruction by a Y-direction moving device J positioned at the end of a scanning line AB. In the meantime, an image pickup tube V slides inside the device P and moves on an image line CD, and receiving an film image, sends the same to an image analyzing device. This image is sent to a computer and the position of the image is calculated and recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a means for creating a map from aerial photographs,
The image analysis device is connected to a computer to meet the performance requirements of the simple analysis Figure 1.

[Prior art] The conventional Figure 1 upper plane uses three-dimensional (
Space) It is constructed with the imitation as a symmetry, and its operation is also Pi.
It is expensive and of course expensive.

[The invention attempts to solve the problem.] ! The purpose of this paper is to solve the problem of three-dimensional imitation (three-dimensional) described in the conventional technology by processing it on a plane and simplifying the process, thereby facilitating the path to automation.

[Means for solving the problem] In order to achieve the above purpose, the measurement standard for each of a pair of photographs is set as a vertical point, and the common yoke direction line of both photographs (
Measure on the intersection line between the plane containing the shooting points of both photos and the photo surface, and convert the photo coordinates to geodetic coordinates.

[Function] The right photograph is attached to the film support stand 2, respectively, and the film is adjusted to a predetermined position. After the statement), observation is performed from the maximum X value to the X value zero and from the X value zero to the XM minimum Iia with a 1 millimeter knob. The scanning line is for each stage! During each stop, the image pickup device P moves according to the program instruction using the Y-direction moving device J located at the end of the scanning line AB. ll Bone canal slides inside P and image line C
A moving film image is received on D and sent to an image analysis device.

This image is sent to a computer, which performs image judgment and finds matching points, each y+1. V2 ((i is sent to a computer by a gear rotation pulse, and X, Y, h of the image are calculated and recorded. U Embodiment An embodiment will be described with reference to the drawings.

The 0th circuit from FIG. 1 is a drawing related to a measuring machine. 1st
The figure is a plan view of the left-hand machine, and the second one [7I is a plan view of the right-hand machine. 1st
In the figure, XI X2 ,'l'+Y:i is an axis of rectangular coordinates centered on the measurement center N. AB is number M! I
I 61 Rotating gear ring E! , E2< This is the center of the scanning line that moves. CD is the center of the image line of the scanning line AB, which is moved by gear rings F1 and F'2 that are rotated under numerical control. p+, t imaging device. scanning line AB
The top is moved in the Y direction by a Y direction moving device J installed at the AB end, and at this time, the image pickup tube V slides inside P while CD
The film 7 moves above and receives the image of the film on the support stand. Since the lower device measures the lower half with the center line YIY2 as the boundary, the mechanism is the same as the upper one, and Fl. Separate restriction devices should be provided for each part.

The 21st right m machine has a horizontally reversed shape with the center as the boundary, and the functions of each part are the same as in Fig. 1.

FIG. 3 is a sectional view of FIG. 1. 2 is a film and a lighting lamp. The control piece is controlled so as to move in the same manner as the GH trail scanning line AB, and L is moved on GH by a connecting gear R in accordance with the imaging device to illuminate the film surface. S is a lens device for inspecting the screen suspension. The sectional view of FIG. 2 is omitted.

FIG. 4 is a diagram of the main parts of the imaging device P. P is moved on AB by arm I, but image pickup tube V slides up and down inside P along groove W using attached hook Z, and moves on the stq line level, in the direction of AB and CD. While rotating the difference, correct the position direction of V on the image line.

FIG. 5 shows the main parts of the imaging device WP and the illumination lamp. A power unit J for moving in the Y direction is provided at one end of the scanning line AB, and it is designed to move in the direction P according to program instructions. At this time, the movement is transmitted to the illumination lamp by the connecting gear R, and the position of L is guided directly below P.

The gear rod E2 for moving AB in the X direction is controlled to maintain the same X value as E3 supporting J, but the control 31 is based on the movement of E2.

FIG. 6 is a diagram of the main parts of the film support 2. A device for setting the film at a required position. 32 is a film stand, 3 is a device Ld that moves on top of the stand 2 by means of an upper and lower gear rod 51S2.
Set X. 4 is set to move left and right on the platform 3 by the gear ring 53SJ. 5 rotates the film to an angle by a film mounting gear s5. dX and dY at this time are based on the following formula.

dX=E1 cns K+E2 sin Kd'+
'=E2 CO3K-El sin K output E,
, E2 is the coordinate difference between the vertical point and the photographic principal point on the photographic plane,
K is the rotation angle of the photograph 3 From Figure 7, the 12th circuit is an explanatory diagram showing the measurement method and its principle. Figure 7 shows tfi
Showing the relationship between the image of a shadow photograph and the incident light rays entering the photographic lens 1
In the figure, ○ is the projection center of the photographic lens, plane Q is a plane that passes through the i() plane normal N on the photographic plane and is parallel to the reference plane (projection +1i'r)A. ABCD is centered at N on the second plane Q. The plane rectangular coordinates A', B', C', and D' are the points where the perpendicular lines from each point A, B, C, and D to the plane Q intersect with the photographic plane P, and abcd is the photographic image of ABCD. do. A
'B'C'D' is the photographic base P, line, and abc(' is called the image reference line. Now, take an arbitrary horizontal line EF where X=~1 on ABCD, and its vertical pitch is called E. 'F',
Let EF be one elephant in the photo of EF.

As is clear from the figure (e and f are points that intersect with the image reference lines ab and cd, respectively, and ON E'ONF'
At the above point, this causes the 9th [
As shown in 21, it is possible to make one difference by using the photo reference line and the video reference line. The photographic reference line and the image reference line are determined by the inclination at the time of photography. (The photo reference line is distorted due to the inclination of the photo, resulting in a slight oblique eye, but it is treated as a correction value.) Based on the above conditions, the inclination of the photo with respect to the reference plane is determined in the X direction ωo, Y direction ψ. If we calculate the conversion formula between the vertical point coordinates X, 3/ on the photograph and the coordinates M, N in ABCD, we get the following formula.

M=x, cosωo/(1-D;) N=y, cos ψo'(I D ) 1 degree D = (x, 5inu,)+y, 5inl1,)/
HPx, y are coordinate values of the vertical point of the photograph after input correction (distortion of the photographic X coordinate axis and geometrical correction).

) IP=f・SeCυ (f is the focal length of the photographing lens.

U is the maximum one-term oblique angle of the photograph) - ON in Figure 7 Use this conversion formula to find the specifications necessary for measurement.

This work (photo orientation) is performed in the following order:

stomach. Orientation of a single photo (clear distortion correction) Using the measured values of the main pass points in aerial triangulation, giving the photo inclination ω, ψ and the photo scale T, M,
Find N, calculate its X and Y, use the result as a pass point)・
6 of each of the left and right photos by repeating the operation while comparing with the results.
1. Deduce ψ and T appropriately.

Calculation of X and Y in case 2 is as follows: Fig. 8 shows the relationship f system of both the left and right photographs at the time of shooting. In Fig. 3, Ol and Og are tM. Shadow point, P
is surface 0. EFO, any point above. At this time, the plane is 0. The intersection line EF between EFO□ and the reference plane Q must have the same vanishing point as the vanishing point of the straight line o10□.

In Figure 1Q, during this time the f system is developed on the reference plane, and since fS et al.
R. N1 and N are the vertical points of the left and right photographs, A and B.

B, A, are projections! & directrix, EF is the line of intersection between any coplanar and the reference plane. 5. The relationship between the left and right photographs must be maintained as shown in Figure 1+) (relative orientation).

Mutual orientation is achieved by rotating the photos of the bus points near the vertical points of the left and right photos (there are 6 points in total, including 1 point near the center and 1 point above and 1 point above).
In the sheep photo orientation of b), once the M value of 11 has been achieved, the leap 1 system between both photos uses the base line length B (Y, 10 obtained from the single photo orientation) '2 insole. ) is established.

Calculation of relative orientation X, 'Y', and h is based on the following formula.

N1X2, Y1Y (A <B+N1X2, Y1Y
(A-1+1X = Y X M3/N3
h = (], Y/Ni)
ζ N3 However, M, = 1. I<TI N
5=NI'TlN4=N2 riT2 B is the baseline length A-! 1□, /'H, TI T2 Scale of each photo Compare this result with the reference point result, and use repeated calculations to determine the appropriate specifications (+ for photo rotation angle, N2.1ffi scale T
1, T2 photo inclination angle ω1. ω2 and ψ ratio ψ2) are determined. Based on these specifications, the scanning lines and video lines to be set on the machine are calculated.

C. Calculation of scanning lines and video lines Figures 11 and 12 show the vertical point on the photograph plane and the leap line system of the photograph reference line for the left and right photographs, respectively. On the photographic plane, the size of the right photograph is at the leap 1:A of H+ / H2 (= 1, / A >) compared to the left photograph. Taking N and A in Fig. 10 as unit lengths, this is 101] mm. Then, the distance between each principal point in the 11th VA is as follows.

N1Al”N181”11)I)/Cos (t)HN
2A2'``N2B2'''101) X A 1,
, ' cos ω+N, N 2 = 100 n,
A 1, □' cos ψ l In the 121st right photograph, the lengths between the main points are as follows.

82A2'``N2B2' = 11) O/' cosω
2N+A+”N+82’=(101), / A )/
cos ω2IVIN2= 100 / cosψ2
The calculation of m1jl in the scan line axis is calculated using the above values. The photo on the left is N, A, , N, N, and the photo on the right is N2 A2 ', N2 NB is divided into small units of measurement in the X direction and Y direction, respectively.In the X direction, this unit is 1 bit. The m value is then measured in the Y direction. The scanning line axis is set to the left photo n=l1. n
=rx Right photo n=J1, n=J2 When set, m value on this axis is left photo mi=+so-eye 1+li
(8-1)/IOi:IA) Right photo ■j=■oj(1
+ rj (1-'/A)/100) However, mQ is the m value at the vertical point axis of each photo <A+ BI A2 B2 top),
The subscripts i and j indicate 1 and 2 of the scanning line axis of each photograph. 6 Calculate the m value within the required range on the scanning line axis of each photograph,
Set to scan line control device. Each m in this scan line axis
, Find x and y for the D value, left photo (1,, I, axis) +1irsecul old fsecU1 right photo <JI Jzll [fl) mjfsecu2 However, subscripts i and j are the 11th axis and I of the left photo and right photo, respectively.
2 axes, I1 axes, and I2 axes. f is the focal length of the imaging lens if! L) 1, I) 2 is the maximum tilt angle of the original photo and the right photo, m i of the left and right photos,
The video lines for the scanning line of mj are xi, yt, respectively.
This is a straight line passing through xj and yj.

Equation of a straight line % formula % Insert X+, yI and N2, 3'2 of the left photo, \r, , V+ 7J, N2, 3'2 of the right photo into the above equation to calculate the equation of the reflection of each photo (☆ Find the equation of the line .

Image line axis for left photo and right photo respectively 3/+=■3・
3/2 = 74 and yl-・I3, y2 = J
If set in 4, substitute the y value into the image r-parallel equation of each photo, calculate the y value on the image fLa line axis, and set it in the image f-parallel control device.3 2. Processing of measured values At the four corners of each photo. Check a certain mark and AM the photo position,
Perform measurements after checking the measured values at the bus points. Processing of measured values is as follows.

1+”lo+li+y+(A I)/1 mountain) Al+Δall Ml”1lCO8ω1m+2:m02
i1+Y2(1',/'A)/1001 +Δ11
2i 2" 1l12CO3ii2N2 = fsecu2 - y2sine2 However, Maro. 1.1102 are nl and N2 in the left and right photos, respectively.
The m values passing through, ΔI++Δ112, are IlI P and mp, respectively. The fraction y1 between 1 and 3/2 is the value obtained by adding the correction at the time of orientation to the measured value.

Ml, A2, N1. To find X, Y, h from NZ, use the following formula: X = 'I' 1X2, Y1Y t41/N
1 h = 11 Y/(N+
', T)) ・N1However, ILr = 1
1) I) X AT = B /' Bo
H = fsecttIx Base line length determined by TB41 relative orientation [Effects of the invention] The present invention achieves the following effects because it is a simple method of directly measuring on a contact film and scanning a predetermined image line. .

It has the performance suitable for a simple analysis diagram and a machine connected to a computer.

C. The path to automation is relatively easy.

[Brief explanation of the drawing]

Figures 1 and 2 are plan views of the left-hand and right-hand machines, respectively, Figure 3 is a sectional view of Figure 1, Figure 4 is a diagram of the main parts of the image carrier, and Figure 5 is the image pickup device. FIG. 6 is a diagram of the main parts of the linked movement of the illumination lights, and FIG. 6 is a diagram of the main parts of the film stand. From FIG. 7, No. 12 is an explanatory diagram regarding the measurement method. Figures 7 and 9 are diagrams of the principle of vertical point projection. FIG. 8 and FIG. 1O are explanatory diagrams of the & state when continuous photographs are taken, and FIGS. 11 and 12 show the relationship between the main points on the respective photographic planes of left and right photographs. Explanation of symbols 1... Machine bottom (white), N... Measurement center (button direct point)
. 2... Film stand, A B... Center of scanning line, CD
... Center of image line, E1, F2 ... i for moving AB
Center of wheel rod, F1, F2-- Center of CD moving gear rod, X1X2, Y1Y2. '1', '! '2... Vertical and horizontal axes of coordinates centered on N, F... Measuring film, P...
...lfi meat device, ■...Image tube in P, S...lens hole for inspection, J...Y-direction moving device for photo-taking device P, F
3...J holding gear rod, rotated by r...J,
Arm that moves P in the Y direction, L...Lighting light, G, H...
・Gear rod that carries the same rotation as E1 and F2 and guides illumination light Xl1i7 in the same way as P, R...Connection gear that conveys the movement of P in the Y direction, W...Guides the image pickup tube V onto the image line V Groove for regulating the position of T...Rail stand to maintain the X value of the light, IL...Arm for moving the light in the Y direction, Z
...A hook that regulates the position and direction of the image pickup tube using the image line,
3...X-direction moving table, 4...Y-direction moving table, 5...
・Film Ce Sou 1 White. U...Operating device for regulating dY, S+, S2...
・X direction moving gear rod, S1, S4 ・・Y direction moving gear ring. S5... Film rotation gear, Q+, CI2
,'+3. I4...Sl-S5's respective rotational axes q rows
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Claims (2)

[Claims] 1. Structure of the Measuring Machine When determining the geodetic coordinates of an image from a pair of consecutive photographs, the measurement standard is taken as the vertical point of the photograph. This allows the intersection line between the plane containing the photographing points of both the left and right photographs and the photographic surface to be symmetrical in measurement. It has a structure that pursues this line of intersection and converts photographic coordinates into geodetic coordinates. 2. Measurement method Coordinate system X_1X_2, Y_ centered on vertical point N on the table
1Y_2 is provided, and a scanning line AB and a video line CD moving in the X direction are set. AB and CD are their respective axes E_1
, E_2 and F_1, F_2 to maintain a predetermined position. The imaging device P moves along the scanning line AB by a Y-direction moving device J provided at the end of AB, and receives an image of the film on the film table 2. The left and right photographs are set in the left and right cameras, respectively, and the imaging device P of each machine sends each image to an image analysis device, where it is processed by a computer and finds matching points of the same images in the left and right photographs. The x values m and y_1y_2 when they match are sent to a computer, and the geodetic coordinates of the image are determined and recorded.