JPH0410010B2 - - Google Patents

Description

TECHNICAL FIELD OF THE INVENTION The present invention relates to an apparatus for deriving three-dimensional quantity information of an object from at least one set of binocular photographs of the object, such as an aerial photograph of the earth's surface. More specifically, the present invention includes a support means for supporting a binocular photograph, a measurement means for determining positional coordinates and angular coordinates of the support means with respect to a preset coordinate system, and a physical observation system. , and while the support means is movable with preset degrees of freedom, a single photograph of the binocular photograph can be used to The present invention relates to the above-mentioned apparatus in which a physical observation system is provided with an adjustment position for determining the difference in position coordinates of corresponding images in the image.

BACKGROUND OF THE INVENTION In photogrammetry, aerial photographs are used, which are measured and further processed by a physical device. The purpose is to capture two images taken from different positions.
The purpose is to derive three-dimensional topographical quantities from a set of photographs. In the optical observation system of a physical device, a measurement target, for example, a sharp index, is provided, and thereby,
All observation points can be displayed in space in a real image. Every position determined is defined by corresponding position coordinates in both photographs. The required topographical coordinates can be derived from the location coordinates of the photo using a computational system based on relationships known from analytical photogrammetry.

Aerial photographs (negatives) are usually recorded on a piece of film. The common topographical area (overlapping area) of two consecutive records covers approximately 60% of the photographic size. A copy (positive) of each record is used for further processing (restitution) in conventional equipment. However, for binocular photography deviation correction only the overlap is always used.

Conventional photogrammetry stereo machines are provided with two separate support plates for the fixation of two separate photographs. Coordinate parameters are required for terrain calculations. The coordinate parameters depend on the internal and external environment during recording and also on the orientation of the photograph relative to the measurement system of the deflection corrector. The above parameters are usually determined by location operations. The locating operation may be fully or partially automated or not, but is carried out by specially trained personnel during deviation correction.

OBJECTS OF THE INVENTION The present invention aims at completely eliminating the orientation step during the deviation correction procedure and has the following advantages:

1 The deflection corrector is simpler in construction and therefore cheaper.

2. The deviation correction machine is easier to operate, and extremely strict demands on photogrammetry knowledge and skill, which were conventionally required of operators, are not imposed. As a result, specially trained personnel are not required. An expert in a certain field of application, for example in the field of topography, geology, forestry, civil engineering, cartography, etc., can carry out the necessary measurements himself after a short training period. This also has a positive impact on the price, turnaround time and quality of the final product. It should be noted that it will also further expand the field of application for measurement purposes in stereophotography, especially aerial photography.

SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a device that allows the use of parameters previously determined in a separate procedure, so that no orientation operations have to be carried out during deviation correction. For this purpose, in a device of the type mentioned at the outset, the support means comprise only one flat support plate supporting the binocular photograph in one plane, and which support plate is accessible to the user in said plane. be moved freely relative to the measuring means, and
Hold the binocular photograph in the previously set position relative to the support plate.

In a preferred embodiment of the invention, the support plate is connected to three linear measuring line locations each having a fixed measuring line, and furthermore, two of the measuring lines are spaced apart from each other by a distance D. ₁ and ₂ are parallel to each other, and the remaining one of the measurement lines is perpendicular to the two measurement lines. In this case, it is preferable that the linear measurement device abuts the mutually perpendicular edges of the support plate at points set on the corresponding measurement lines. In this embodiment, when the support plate is rotated, the measurement line of the linear measurement device always passes through the contact point between the linear measurement device and the support plate.

The device according to the present invention is different from conventional devices,
Only one support plate is provided for photographs, in particular two or three photographs connected to each other forming a set and two sets of connected binocular photographs. The overlapping images are fixed on the support plate as one fixed solid image.

In order to reproducibly secure the binocular photographs to each other in a novel manner, in one embodiment of the invention the support plate is provided with means for abutting the edge holes of the binocular photographs.

In another embodiment of the invention, corresponding overlaps of two or more photographs are commonly placed on a single photographic sheet or other support member to ensure that the relative positions of the overlaps are fixed. .

Accurate and reliable deviation correction of stereoscopic information is ensured in the following embodiments of the invention. That is, the physical observation system has at least two observation lines, one of which is fixed, and the other observation line is movable only in the axial direction. When using the above three linear measuring devices, one of the fixed observation lines passes through the intersection of the measuring lines of two of the linear measuring devices. Therefore, the known Abbe measurement results are certainly satisfied.

In an embodiment of the invention, the support plate is quite simply connected to an adjustment device which determines the angular position of the support plate by means of a parallel guidance system.

Embodiments The configuration of the present invention will be explained below with reference to the attached drawings for each embodiment.

FIG. 1 shows a flat support plate 1 configured to support a stereoscopic image 2 consisting of two aerial photographs 3 and 4 forming a binocular photograph. The unique positioning of the stereographic image 2 is ensured by means of the fixing piece 5 which cooperates with the edge holes of the stereoscopic image 2. The coordinate system on the plane of the real image 2 is expressed as x and y. Photo 3 shows three image points a′, b′ and c′ corresponding to points a″, b″ and c″ in photo 4. Stereoscopic information about the elevation of the associated topographic points. is photo 3
It will be clear that there is a correlation between the positions of the relevant points in and 4.

Now consider point a. The values of x″ and y″ can also be expressed as:

x″=x′+Px y″=y′+Py where Px and Py are the x and y components of the parallax P, respectively. In an ideal recording where the camera is oriented exactly vertically and the recording level is the same for every recording, all connections between pairs of corresponding image points on the recorded stereoscopic image are They will appear parallel to each other. This means that the y-axis parallax Py is equal for all points. The y-axis parallax Py may be zero. However, since the distance P is directly related to the level difference of the terrain, it is generally not equal for all points.

In non-ideal recordings, the connections generally run non-parallel because there is a y-axis parallax difference in the stereo image. The angular displacement is therefore a function of the orientation parameter and the terrain level difference. Apart from the y-axis disparity, the parameter also influences the value of the x-axis disparity, so that the value P as its influence appears in the real image.

In the device according to the invention, the relative position of the right-hand image with respect to the left-hand image is represented by the angular displacement α of the line between the associated image points and the distance P along the line. The relationship between the x-axis parallax and the y-axis parallax is expressed as follows.

Px=P.cosα Py=P.sinα In the apparatus according to the invention, described below with reference to FIG. 3, the image coordinates are measured as schematically shown in FIG. The solid image 2 has an xy coordinate system,
The position coordinates of image points a' and a'' must be expressed with respect to the xy coordinate system. The positions of a' and a'' are found by measurement with respect to a fixed auxiliary coordinate system. At this time, this solid image is positioned as follows.

1 Point a' with coordinates (D, D) coincides with a fixed point in the xy coordinate system.

2 Connection a′a″ extends parallel to the xy axis.

The distance P and position of the xy coordinate system relative to the fixed axes, represented by the values ', ' and ', are measured as shown in FIG. The required position coordinates can be derived from the measurements based on the following relationship:

x′=(D−′)cosα y′=(Dy−y)cosα x″=x′+P・cosα y″=y′−P・sinα α=arctan(y′−y′/D) In photogrammetry , orientation parameters are determined by a procedure known as aerial triangulation (AT), which is based on very precise measurements of the image coordinates of a point. For this purpose, special stereo comparators are used in modern photogrammetry. Such a stereo comparator is necessary in the measurement principle of stereoscopic images in aerial triangulation. However, no conventional stereo comparators are configured or capable of measuring stereoscopic images of the type described herein. The measuring system described above is highly suitable as a stereo comparator for measuring separate stereophotographs and stereopics. Apart from its use as a stereo comparator, the device according to the invention is also eminently suitable as a deviation corrector in photogrammetry, known as an analysis plotter (AT), especially for stereoscopic drawings.

FIG. 3 shows a device 6 according to a first embodiment of the invention. The device 6 comprises a flat support plate 1 as shown in FIG. 1, on which a stereoscopic image 2 is fixed in a special manner with fixing pieces 5. Although not shown in FIG. 3, the support plate 1 is movable within its own plane with respect to the fixed coordinate system shown in FIG. The binocular stereoscopic observation system 7 has two vertical observation lines 8 and 9, along which two corresponding image points can be observed along the vertical observation lines 8' and 8''.

In this optical system, there are two measuring targets 9 and 10 for position adjustment on the point to be measured.
The left observation line 8' has a fixed position, and the right observation line 8'' can be moved axially by means of a measuring screw 54. By adjusting the screw 54, the parallax P can be adjusted.
is measured. Parameters and α are measured by three measurement rulers 11, 12 and 13, each of which is movable in the axial direction along three fixed measurement lines positioned in the horizontal plane in which the support plate 1 moves. .

The rulers 11, 12 and 13 are each provided with fixed indicators 14, 15 and 16 for reading the relevant measurements. In this embodiment, the indicators 14, 15 and 16 also function as position sensors that supply relevant position signals to a computer 19, which is configured to obtain the necessary information from the input signals provided. The longitudinal axes of two of the fixed measuring lines, namely rulers 11 and 12, are parallel to the axis, and the fixed measuring line of ruler 13 extends in the axial direction. Mutually perpendicular lateral edges 17 of the support plate 1
The ends of measuring rulers 11, 12 and 13 cooperating with and 18 are sharp, so that the measuring line is clearly set.

In order to satisfy the well-known Atsube measuring principle, the position of the measuring line of the measuring rulers 11 and 13 is selected to intersect the fixed line of the side 8' of the observation system 7. The measurement line of the measurement ruler 12 has a constant distance D from the measurement line of the measurement ruler 11.
Since the measuring rulers 11, 12 and 13 rest against the lateral edges 17 and 18 of the support plate 1, the measuring rulers 11, 12 and 13 are also moved during the movement of the support plate 1. The orientation and position of the support plate 1 are determined by measurements or sensors 14, 15 and 16 that read the values indicated by indicators 14, 15 and 16.
is fully determined from the output signals respectively input to the computer 19 by. Together with the measured value of the parallax P by the measuring screw 54, output signals are supplied by the position sensor 20 etc. in the embodiment of FIG. is also sufficient to display the position coordinates.

In order to precisely adjust the angular position α of the support plate 1, the freedom of movement of the support plate 1 is controlled by means of a parallel guidance system, the orientation of which is adjusted by means of an adjusting screw 22. Adjustment screw 22 is connected to a stepping motor 23 which is controlled by computer 19. Also, measuring screw 5
It will be clear that 4 could also be controlled by a motor controlled by computer 19.

The parallel guidance system consists of two hinge rods 24
and a rotary disk 21 which cooperates with the support plate 1 via . The disc 21 has rods 26 and 27
is rotationally driven by an adjusting screw 22 via which the adjusting screw 22 also cooperates with the free end of the hinge arm 28 for this purpose. In the observation system 7, the measuring targets 9 and 10 function as optical units.

The measuring screw 54 cooperates with a table 31 that is movable in the axial direction, and the measuring target 10 and the prism 30 are placed on the table 31. By adjusting the measuring screw 54, the observation line 8''
can be moved to adjust the observation line 8' to a point corresponding to the adjusted image point. Photos 3 and 4
Observation system 7 receives images of photographs 3 and 4 via semi-transparent mirrors 32 and 33 such that corresponding points on the top coincide optically with the respective landmarks.

The above embodiment of the invention, device 6, can be used both as a stereo comparator and as an analysis plotter. In the first case, the movement of the support plate 1 and the measuring screw 54 is directly controlled by the operator. In the second case, the screws 22 and 54 are digitally controlled by the computer 19, while the measuring ruler has indicators 14, 15 which act as sensors.
and 16 are provided, and indicators 14, 15 and 1
The information in No. 6 is input directly into the computer.

FIG. 4 shows another embodiment of the invention. device 34
is shown schematically and differs from the device 6 of FIG. 3 in the number of photos that can be analyzed simultaneously. Device 6 analyzes the overlap between photographs 3 and 4. On the other hand, in the embodiment shown in FIG. 4, there is one full-page photograph 35 in the center, and two photographs 36 and 37 that overlap only with the full-page photograph 35. Thus, connected binocular photographs 35, 36 and 35, 37 are created.
In this embodiment, connection errors are avoided, thereby reducing error propagation.

The device 34 comprises a stereoscopic viewing system 38 having a left eyepiece 39 and a right eyepiece 40 . In the mode of operation of the observation system 38 shown in solid lines, the photographs 35 and 37, which together form a binocular photograph, are physically observed together with the corresponding landmarks 42 and 44. It should be noted that the associated image of photograph 35 passes along path 56 in the direction of physical observation system 38 together with landmark 42 . The above image is lens 57
is reflected in the direction of the semi-transparent mirror 51 by the prism 58, and then reflected by the dove prism 5.
9 and reaches the right eyepiece 40 and is observed by the user. The image of the photograph 37 is observed together with the measurement target 44 through the left eyepiece 39. Photo 37
The image passes through the passage 6 via the prism 48 and the lens 65, passes through the semi-transparent mirror 50, is reflected by the semi-transparent mirror 49, then passes through the semi-transparent mirror 52, and then passes through the prism 61. It is finally reflected by the pentagonal prism 62 and reaches the left eyepiece 39.

In the operating mode of the physical observation system 38, indicated by the dashed line, the photograph 35 is observed together with the measuring mark 42 through the left eyepiece 39;
is observed together with the measurement target 43 through the right eyepiece 40.

itself known as “clip crop”
A switching device called "clop" is provided.
The switching device comprises an opaque screen 53 rotatably mounted and connected to a prism 58. In the operating mode shown in solid lines, the screen 53 blocks the passage of light rays between the mirrors 50 and 51. In addition, in the operation mode shown by the dashed line, the screen 53 is connected to the mirrors 49 and 5.
Block the passage of light rays between the two. At this time, photo 3
The image of No. 5 includes a lens 57, a prism 58, a semi-transparent mirror 52, a prism 61, and a pentagonal prism 6.
2, passes through a path 56, and finally reaches the left iris 39.

The image of the photo 36 together with the measuring mark 43 is the prism 47
and passes through path 63 through lens 64, through semi-transparent mirror 49 and reflected by mirror 50, and then through semi-transparent mirror 51 and dove prism 5.
9 and finally reaches the right eyepiece 40.

Side line 55 of the measuring marker 42 corresponding to the center photo 35
has a fixed position. In contrast, the side lines 66 and 67 in photos 36 and 37 are
and 44 are movable by respective carriages 45 and 46, and the carriage 4
The positions of 5 and 46 are adjustable in the axial direction corresponding to table 31 in FIG. Therefore, the fourth
The figure does not show necessary adjustment means such as the adjustment screw 54 of FIG. 3. Since the prisms 47 and 48 are fixed to the carriages 45 and 46, the measurement targets 43 and 44 are movable in the x-axis direction.

From the above description, it can be seen that the conversion from one set of binocular photographs 35, 37 to another set of binocular photographs 36, 35 is an optical switching of the stereoscopic observation system 38, that is, the prism 5
It will be clear that this is accomplished only by a 180° rotation of 8 and a movement of the opaque screen 53.

Since the embodiment of FIG. 3 has been described, a functional explanation of the embodiment of FIG. 4 will be omitted. Axial side line 66
It will be clear that the adjustments in and 67 are made to measure the relative parallax P in the associated binocular photographs. The apparatus 34 of FIG. 4 is constructed so that the number of inversions of the left and right images is equal.

Furthermore, when switching from one set of binocular photographs to another set of binocular photographs, the relative positions of the pair of two photographs are always the same; in other words, as in this example, the right photograph is always the left eyepiece. The picture on the left is always considered to appear on the right eyepiece. Therefore, the user can change the height to the depth,
On the other hand, if you imitate the opposite, you will not receive erroneous stereoscopic information.

FIG. 5 schematically shows the central photograph 35 and the side lines 55 together with the transparent mirror 41 and the measurement target 42. Symbolically, an eye 68 is shown as a representation of the relevant portion of the physical viewing system 38.

To explain again, as a result of the central photo 35 partially overlapping with the other photos 36 and 37 on both sides, 2
Switching between the pairs of binocular photographs 35, 37 and 36, 35 does not introduce any connection errors;
5 can be fully processed and corrected.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a binocular photograph consisting of two photographs fixed on a support plate, FIG. 2 is a diagram for explaining the basic principle of the present invention, and FIG. 3 is a diagram for explaining the basic principle of the present invention. FIG. 4 is a perspective view showing a device for correcting the deviation of a binocular photograph consisting of a pair of photographs according to a first embodiment; FIG.
5 is a schematic illustration of a device for correcting the deviation of a series of photographs; FIG. 5 is a sectional view taken along the line -- of FIG. 4; 1...Support plate, 2...Substance drawing, 6...Device, 7
...Binocular physical observation system, 9,10...Measurement target, 11,12,13...Measurement ruler, 14,1
5, 16... fixed index, 19... computer,
20...Position sensor, 21...Parallel guide system, 22...Adjustment screw, 31...Table, 34
...Equipment, 38...Substance observation system, 39...
Left eyepiece, 40...Right eyepiece, 4
9, 50, 51, 52...semi-transparent mirror, 53...
...opaque screen, 54...measuring screw, 59...
...Dove prism, 62...Pentagonal prism.

Claims (1)

[Claims] 1. At least one object with an aerial photograph of the ground surface, etc.
In an apparatus for deriving three-dimensional quantity information of the object from a set of binocular photographs, a support means for supporting the binocular photographs, and positional coordinates and angular coordinates of the support means are determined with respect to a previously set coordinate system. It is equipped with a measuring means and a physical observation system, and the supporting means is movable with a preset degree of freedom, while the user can derive desired three-dimensional quantity information for every point in the binocular photograph. The stereoscopic observation system is provided with an adjustment position for determining the difference in position coordinates of corresponding images in a single photographic image of a binocular photograph, and further, the supporting means supports the binocular photograph in one plane. a single flat support plate, the support plate being freely movable relative to the measuring means by the user in the plane and at a predetermined position relative to the support plate; A device characterized in that it is configured to hold binocular photographs. 2. The device according to claim 1, in which the support plate has three fixed measurement lines, each having a fixed measuring line.
Further, two of the measuring lines are parallel to each other and separated by a certain _distance D, and the remaining _one of the measuring lines is connected to the two linear measuring devices. Characterized by being perpendicular to the measuring line of the book. 3. The apparatus set forth in claim 2, wherein each of the linear measuring devices abuts against mutually perpendicular edges of the supporting plate at points set on the corresponding measuring line. . 4. The device according to any one of claims 1 to 3, characterized in that the support plate is provided with means for contacting the edge holes of the binocular photograph. 5. In the apparatus according to any one of claims 1 to 4, corresponding overlapping parts of two or more photographs are commonly placed on one photographic sheet or other supporting member. The invention is characterized in that the relative positions of the overlapping parts are reliably fixed. 6. In the device according to any one of claims 1 to 5, the physical observation system has at least two observation lines, and one of the observation lines is fixed, and , the other observation line is movable only in the axial direction. 7. The device according to claim 2 or 6, characterized in that one of the fixed observation lines passes through an intersection of measurement lines of two of the linear measurement devices. Something to do. 8. The device according to any one of claims 1 to 7, characterized in that the support plate is connected to an adjustment device for determining the angular position of the support plate by means of a parallel guiding system. Something to do.