JPH06124339A - Street trace map generation system - Google Patents

Abstract

PURPOSE:To provide the street trace map generation system which extracts alterations of buildings effectively by suppressing transient influence. CONSTITUTION:The street trace map generation system which detects the alterations of the buildings on the basis of image picked-up screens uses the 1st screen 1 obtained by picking up an image of one object at time A, the 2nd screen 2 obtained by picking up an image of the same object as the object at the time A at time C a period B after the time A, the 3rd screen composed by deleting different images between the 1st screen 1 and 2nd screen 2 from the 1st screen 1 or 2nd screen 2, and the 4th screen 4 obtained by picking up an image of the same object as the object at the time A at time G a period F longer than the period B before the time A, and compares the 3rd screen 3 with the 4th screen 4. If there is a different part between the 3rd screen 3 and 4th screen 4, the part is detected as an alteration part of the image picked-up object.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for creating a streetscape tracking map, and more particularly, in the process of detecting a change in the streetscape centering on a modification of a building by using a moving body such as a vehicle or an aircraft. The present invention relates to a method for creating a streetscape tracking map for efficiently extracting a modification of a building by suppressing the influence of shadows and moving bodies (cars, people, etc.).

[0002]

2. Description of the Related Art Automatically and efficiently creating an image of a cityscape showing a modification of a building (new construction, extension, renovation, loss, etc.) and a map showing the modified portion from the image of the cityscape. Is important in urban equipment planning. When creating a conventional cityscape tracking map, a moving body (aircraft, automobile, etc.) is used to periodically take photographs, and old and new images digitized by computer processing are input to a storage device, and the memory is stored. By displaying on the display from the device and comparing them visually by a person, the modified portion is known.

The modified portion is input as a storage device instruction from a workstation having a display or the like. Therefore, the converted portion is stored in the image in the storage device and becomes a target to be compared at the time of the next imaging.

[0004]

However, in the conventional method, all comparisons of old and new images are manually performed.
It may be performed by mechanical processing. When performed manually, it is necessary to visually check and compare the shapes of all the buildings on the displayed image, which can be a huge amount of work and requires a lot of labor.

On the other hand, when it is carried out by mechanical processing, transient changes such as sunshine, shadows, moving bodies such as cars and people, blinking of electric lights (lights), etc. are mixed into the modification information of the building, thereby constructing the building. It becomes inaccurate to judge whether the object itself has been modified.
Further, a difference in the brightness of natural light (weather) occurs in the photographed images, which causes a difference in how to capture the imaged object. In addition, there is a problem that it is difficult to grasp the same image pickup target due to changes in environment attributes (azimuth, horizontality, distance to the target, etc.) such as shooting position and shooting range.

The present invention has been made in view of the above points,
By eliminating the effects of transitional conversions such as sunlight, shadows, moving objects, and flashing lights, automation of easy work on moving objects can be achieved.
It is an object of the present invention to provide a cityscape tracking map creation method that creates an image and a map that accurately detects changes in buildings and displays them by speeding up and improving the efficiency of work at bases that handle large amounts of data. .

[0007]

FIG. 1 is a diagram for explaining the principle of the present invention. In the cityscape tracking map creation method that detects the alteration of the imaging target based on the imaged screen,
The first screen imaged at the date and time A and the second screen imaged at the same object as the imaged object at the date and time A at the date and time C after a lapse of a period B from the date and time A, and the first screen and the second screen are mutually exchanged. A different image is deleted from the first screen or the second screen, and the third screen, which is a composite screen, is combined with the date A from the date A to the period F that is longer than the period B. The third screen and the fourth screen are compared by using the fourth screen obtained by capturing, and if there is a different portion between the third screen and the fourth screen, that portion is targeted for imaging. Detect as a modified part.

Further, at the same time when the image is picked up, when the same object as the screen imaged object is imaged, a signal is emitted to measure the distance between the imaging side and the object, and a distance record for recording the measurement result is created. However, in the case of detecting a modification of a building from the imaging screen, the first distance record, which is obtained by emitting a signal at the same time when the image of the imaged object is imaged and recorded, is measured and recorded at the same position before the time. And a second distance record, and when there is a difference between the first distance record and the second distance record, an image capturing screen corresponding to the first distance record and an image capturing corresponding to the second distance record. When the screens are compared and there is a different part in the imaged object, that part is detected as a modified part.

Further, in a cityscape tracking map creating method for detecting a modification of a building based on the imaged screens, when comparing a plurality of screens of the same object imaged at different imaging dates and times, the respective screens are the same. Divide into the same number of cells with the same area in the form, calculate the average concentration of all cells by averaging the average concentration of each cell, and calculate the average concentration of each cell by the average concentration of all cells. If the normalized density is found, then the standard deviation of the normalized density is found, the standard value is found from the standard deviation, and the difference between the normalized density of the cell of interest and the normalized density of the neighboring cells that the cell touches is greater than or equal to the standard value. In addition, the cells are identified as change cells that may be modified as an imaging target, and only the change cells in the screens are compared between the screens to prevent the brightness and contrast of each screen from being different from each other.

Further, in the streetscape tracking map creating method for detecting alteration of the imaged object based on the imaged image, the fourth screen is composed of the first screen and the second screen to be compared for detecting alteration. It is a screen obtained by deleting images different from each other in a screen obtained by photographing at least one screen a plurality of times.

[0011]

The present invention eliminates the effects of transient changes such as sunshine, shadows, moving bodies such as cars and people, and blinking of lighting such as electric lights. And evening, or at least two types of images taken at the timing of the current day and the next day, etc. are compared, and the parts that differ between the two are excluded from the changed parts, so that the parts that have changed in a short period of time are targeted for imaging. Avoid misidentifying it as a modified part of the product.

The difference in brightness between old and new photographs is obtained by dividing the image into cells, normalizing the brightness of each cell by the average value of all cells, and using the standard deviation of this normalized value as a basis. Adopted as a reference value, the brightness of each cell is compared with the surrounding cells, and if the set reference value is exceeded, create a screen that identifies the cell, and identify the cells with each other within the screen. By comparing only the above, it is possible to eliminate the false recognition due to the brightness by detecting it as a change cell in which there is a possibility of a change in the structure.

Further, there is a process in which the direction, the position point, the traveling distance, the camera position, etc. are constantly grasped and recorded, and in the case of automobile measurement, the distance to the building is measured using ultrasonic waves. It is possible to maintain the sameness by carrying out and grasping the old and new environmental attributes.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 2 shows the configuration of a vehicle mounting system according to the present invention. This figure shows a configuration in which measurement is performed from an automobile when a building is imaged. First, each configuration will be described. The camera 21 and the ultrasonic rangefinder 2 are used as the measurement detection imaging control unit.
2. There are a measuring end control device 23, a vehicle odometer 24, a wheel steering angle detector 25, an azimuth angle detector 26, an inertial level meter 39, a column control device 40, etc., and an A / D conversion signal transmitting / receiving unit 2
7, a data bus 28, and a map data file device 30, a new image data file device 32, an old image data file device 34, a distance data file device 36, a system control and environment data file device as a configuration for performing computer processing. 41, system control and environmental data display workstation 29, map display device 31, new image display device 33, old image display device 35, distance display device 3
7, a central control unit (CPU) 38 and the like.

Next, the operation of the configuration of each measurement detection / imaging control section will be described. The camera 21 is for photographing a building. The ultrasonic range finder 22 measures the distance to the building to be imaged. The measuring end control device 23 is the CPU 3
The positions of the camera 21 and the ultrasonic range finder 22 are measured by the instruction of 8. The vehicle odometer 24 detects the mileage of the vehicle. The wheel steering angle detector 25 detects the steering angle of the wheels.
The azimuth detector 26 detects an angle difference between the traveling direction of the vehicle and the N pole of the magnet. The inertial level gauge 39 detects the inclination of the vehicle. The column control device 40 controls the heights of the camera 21 and the ultrasonic range finder 22 according to an instruction from the CPU 38.

Each analog data detected by the above-mentioned measurement / detection / imaging control section is converted into digital data by the A / D conversion signal transmitting / receiving section 27 and sent to the data bus 28. The system control / environmental data display workstation (WS) 29 exchanges data with the system control / environmental data file device 41. The system control and environment data file device 41 has environment data of both new and old images. This environmental data includes an ultrasonic range finder 22, a measurement end control device 23, a vehicle odometer 24, a wheel steering angle detector 25, an azimuth angle detector 26, an inertial level meter 39,
It is data from each device of the column control device 40, and these data are system control and environmental data file device 4
WS29 for system control and environmental data stored in 1
Is output to.

The map data file device 30 pre-stores a vector map including buildings in the measurement target area, the map data in the vector map is output to the map display device 31, and the system control and environmental data file device. 41. Display device for map 31 about display of measurement points and environment data in cooperation with 41
Display online above.

The new image data file device 32 is the camera 2
The image taken in 1 is stored and output to the new image data display device 31. Old image data file device 3
Similarly, 4 stores the image taken by the camera 21 and outputs it to the old image data display device 35. further,
Each of the new image data file device 32 and the old image data file device 34 also has information on points for determining coincident points in advance and fixing them on the image in order to fix the measurement points.

The distance data file device 36 stores the distance between the object to be imaged and the measurement point measured by the ultrasonic distance meter 22 and outputs it to the distance display device 37.

The above file devices and the display device are all controlled by the CPU 28 via the data bus 28. Further, this control software is stored in the system control and environment data file 41,
I / O for control is WS2 for system control and environmental data
It is done via 9.

FIG. 3 shows a system configuration on the base side of the present invention. The configuration shown in the figure exchanges data with the system mounted on the automobile shown in FIG. 2 to perform map creation processing. First, the configuration on the base side will be described. The configuration of the base side is the new map data file device 51, the new map WS5.
2, old map data file device 53, old map W
S54, new image data file device 55, new image WS
56, old image data file device 57, old image WS5
8, old and new distance data file device 59, old and new distance WS
60, system control and environmental data WS61, CP
A U62, a printer 63, a recording medium creating device 64, a data bus 65, and a system control / data WS 66.

Next, the operation of the configuration on the base side will be described. The new map data file device 51 and the old map data file device 53 are connected to the map data file 31 each time measurement by the above-described vehicle-mounted system is completed.
Will be transferred. Similarly, when the new image data file device 55 and the old image data file device 57 complete the measurement, the image data is transferred from the new image data file 32 and the old image data file 34. The old and new distance data file device 59 accommodates old and new distance data.
The distance data is transferred from the distance data file 36 each time the measurement is completed in the vehicle-mounted system. The system control / environmental data file device 66 transfers system control information, environmental data, etc. from the system control / environmental data file device 41 each time measurement is completed in a system mounted on an automobile. Each of these file devices is connected to a WS via a data bus 28, and each file information is accessed from each WS of information via the data bus 28 to perform display and write to each file. The printer 63 and the recording medium creating device 64 display the map or the image of the modified portion that has been finally generated and which has been highlighted, to the new map data file device 51 and the new image data file device 5.
Based on the information of No. 5, it is output by a printer, a plotter or the like, or is stored in a CD-ROM, a magnetic tape, a magnetic disk or the like. Data bus 6
It is controlled by the CPU 38 via 5.

FIG. 4 shows a camera 21 mounted on the measuring vehicle of the present invention,
The structure relevant to the ultrasonic range finder 22 is shown. 2, those parts which are the same as those corresponding parts in FIG. 2 are designated by the same reference numerals, and a description thereof will be omitted. In the same figure, (A) is a conceptual diagram of the configuration of the camera 21 and the ultrasonic range finder 22. In the figure, what is mounted on the measurement vehicle body 100 is a camera 21, an ultrasonic distance meter 22, a measuring end control device 23, a support 103, a support control device 40, and the like. A camera 21 and an ultrasonic range finder 22 are supported by a column 103 via a measuring end controller 23. The support column control device 40 is fixed to the measurement vehicle body 100, and the wheels 101 and the axles support the measurement vehicle body 100. The height h _{c of the} camera 21 and the road surface 104 and the height h _u of the ultrasonic range finder 22 and the road surface 104 are determined by the support column control device 40.
Adjusted by moving 3 up and down.

FIG. 1B shows a structure for vertically moving the support column. In the figure, the portion surrounded by the dotted line is the column control device 40. The camera 21 is supported by the upper and lower columns 201 via the measuring end control device 23. There is a thread at the bottom of the upper and lower columns 201, and the guide disc 2 is engaged with the thread.
02 is provided. The guide shaft 203 is rotated by driving the motor 204, and the guide disc 202 is rotated in accordance with the rotation, so that the upper and lower columns 201 are moved up and down. The motor 204 receives the A / D conversion signal transmitting / receiving unit 27 via the motor rotation control line 205.
Controlled by the signal from. The column inner column 132 protects the measuring end control device 23, and the column outer column 131 slides up and down with the column inner column 132 to protect the upper and lower columns 201. The measuring-end control device 23 outputs a signal for controlling the data line 133 via the data line 133.
The signal is transmitted to the A / D converted signal transmitting / receiving unit 27, and a signal for instructing control of rotating the camera 21 is transmitted from the A / D converted signal transmitting / receiving unit 27.

FIG. 5 shows the rotation angle of the camera 21 of the present invention. The rotation angle of the camera 21 is set under the control of the measuring end controller 23. The figure shows the horizontal rotation angle α _c and the vertical rotation angle β _c of the camera 21. The horizontal rotation angle α _c is the angle when the measurement vehicle body 100 is rotated from the vertical direction (x) to the horizontal direction (y), and the vertical rotation angle β _c is the angle when it is rotated in the vertical direction (z). is there.

The image data captured by the camera 21 in FIG. 4B is sent to the data bus 28 through the data line 133 and the A / D conversion signal transmitting / receiving section 27.
Further, it is transmitted to the CPU 38 from the data bus 28. Further, the rotation (h _c ) data of the upper and lower columns 201 of the motor 204 is transmitted to the A / D conversion signal transmitting / receiving unit 27 via the motor rotation control line 205, and further, the CP is transmitted from the data bus 28.
It is sent to U38.

The ultrasonic range finder 22 shown in FIG. 4A is controlled by the same mechanism as the control of the camera 21 described above. In FIG. 4 (B), when the ultrasonic range finder 22 is installed instead of the camera 21 incorporated in the measuring end control device 23, it is completely the same as the case where the camera 21 is set, and is not shown. Further, in FIG. 5, the ultrasonic rangefinder 2
_Let α _u be the horizontal rotation angle of 2 and β _{u be the} vertical rotation angle.
And

FIG. 6 shows a conceptual diagram of the vehicle odometer of the present invention. In the figure, (A) shows a detection disk of the vehicle odometer 24. The detection disc 405 is fixed to the axle 102. On the detection disc 405, there is a detection disc hole 404 for passing the light of the light emitting element 402. The detection circuit is shown in FIG. In FIG. 3B, the detection disc 405 shown in FIG.
Is shown from the cross section. The detection circuit of the vehicle odometer includes a detection disk 405, an A / D conversion signal transmitting / receiving unit 27,
It is composed of a pulse distance data converter 401, a light emitting element 402, a light receiving element 402, a detection disk 405, a detection disk hole 406, and an axle 102. The detection circuit is the light emitting element 402.
The light from is emitted to the detection disk 405 rotating around the axle 102. The light from the light emitting element 402 passes through the detection disk hole 406, and is thus received by the light receiving element 403 located opposite to the light emitting element 402. The light receiving element 403 receives light from the light emitting element 402 each time the detection disk 405 makes one rotation, and a current pulse is generated in accordance with the rotation. The current pulse is a pulse distance data converter 401
Entered in. The pulse distance data converter 401 calculates the distance data 2πγ from the current pulse. However,
γ is the radius of the detection disk. Therefore, assuming that the automobile has traveled by 2πγ, the data is sent to the A / D conversion signal transmitting / receiving unit 27.

FIG. 7 is a conceptual diagram of the wheel steering angle detector of the present invention. In the figure, (A) shows the configuration of the wheel steering angle detection unit of the wheel steering angle detector 25, and (B) shows the wheel steering angle detection circuit. The wheel steering angle detection unit includes an axle protrusion 502, a light receiving element 503, a light emitting element 504, a pulse angle data converter 505, and a pulse transmission line 506. Wheel 1
01 and the axle 102 rotate around the axle rotation shaft 501. The axle projection 502 fixed to the axle 102 has a surface that reflects light, and the light from the light emitting element 504 is reflected by the axle projection 502, which is received by the light receiving element 503, and a current pulse is transmitted as a pulse. It is input to the pulse angle data converter 505 via the line 506. Since the light receiving element 503 and the light emitting element 504 are arranged side by side on the circumference, the pulse transmission line 506 through which the current pulse has flown is identified by the pulse angle data converter 505. This allows the steering angle γ to be known. The pulse angle data converter 505 sends the data of the steering angle γ to the A / D conversion signal transmitter / receiver 27.

FIG. 8 is a conceptual diagram of the azimuth detector 26 of the present invention. The figure (A) is a top view of the core, and the figure (B).
[Fig. 3] is a side view of the core. In the figure, the azimuth detector 26
Is composed of a core 601, a rotary shaft 604, an upper winding 602, a lower winding 603, a rotary shaft 604, a rotary shaft protrusion 605, a light emitting element 606, a light receiving element 607, a motor 608, and a phase / azimuth angle converter 609. An upper winding 602 and a lower winding 603 are wound around the core 601. The rotating shaft 604 is rotated by the activation of the motor 608, and the rotating shaft protrusion 605 is fixed to the rotating shaft 604, and the rotating shaft 604 rotates together with the rotation of the rotating shaft 604. A light emitting element 606 and a light receiving element 607 are provided so as to sandwich the rotary shaft protrusion 605, and the rotational state is photoelectrically detected. The induced voltage Eφ is a voltage induced by the upper winding 602 and the lower winding 603. E ₀ is the output voltage of the light emitting element 606 and the light receiving element 607.

FIG. 9 shows the rotating state of the rotating shaft of the azimuth angle detector of the present invention. In the figure, 610 indicated by an arrow is a geomagnetic flux, and 611 is a phase difference. (A) ~ in the figure
The rotation of (b) changes the direction of the geomagnetic flux.

FIG. 10 shows the relationship between the induced voltage and the output voltage in the rotating state of the rotating shaft of the azimuth angle detector of the present invention. FIG. 7A shows the induced voltage Eφ. In FIG.
The induced voltage when the rotating shaft is rotating (a) is shown in (a) of FIG.
In the rotating state (b), the voltage becomes the voltage of (b) in FIG. 10, and the voltage has a peak. In the rotating state (c), the voltage becomes as shown in (c) of FIG. The output powers of the light emitting element 606 and the light receiving element 607 are as shown in FIG. In the same figure (A) and (B), the states (a) and d ₁
The phase difference 611 between the two changes depending on the direction of the geomagnetic flux. The phase azimuth converter 609 converts the phase difference φ ₀ into the induced voltage E
The direction (azimuth) of the geomagnetic flux is calculated by detecting φ and the output voltage E ₀ , and the azimuth data is sent to the A / D conversion signal transmitting / receiving unit 27.

FIG. 11 shows a conceptual diagram of the inertial level meter of the present invention, and FIG. 12 shows a diagram for explaining the inertial level meter of the present invention. In FIG. 12A, the measurement vehicle 100 is located on the vertically inclined ground 713 and is inclined from the plane by the vertical inclination angle (ε). (B) is a state in which the measurement vehicle 100 is located on the laterally inclined ground 714 and is inclined from the plane by the lateral inclination angle (ψ). The inertial level meter 39 shown in FIG. 11 has basically the same structure as the compass, and the lateral tilt detection plate 701 rotates around the lateral rotation axis 702, but the center of gravity of the lateral tilt detection plate 701 is It is below the lateral rotation axis 702. Lateral light emitting element 7
03 and the lateral light receiving element 704 photoelectrically detect the rotation of the lateral tilt detecting plate 701 by the lateral light emitting element and the light receiving element, and transmit the rotation to the lateral tilt angle (ψ) detector 712. The vertical tilt detection cylinder 705 rotates around the vertical rotation shaft 707, and its center of gravity is located below the vertical rotation shaft 707.
The vertical rotation shaft 707 is supported by the external support housing 706. The vertical tilt detection plate 708 is a vertical tilt detection cylinder 70.
It is fixedly installed on 5. By rotating the vertical tilt detection cylinder 705, the vertical tilt detection plate 708 is rotated, photoelectrically detected by the light emitting element 709 and the light receiving element 710, and transmitted to the vertical tilt angle (ε) detector 711. Next, the vertical tilt angle (ε) detector 711 determines the horizontal tilt angle (ψ).
And the vertical tilt angle (ε) are sent to the A / D conversion signal transmitting / receiving unit 27.

Next, the object to be imaged is imaged from the measuring vehicle 100.
The structure of the imaging screen will be described. FIG. 13 is a photograph of the present invention.
The block diagram of an image screen is shown. In the imaging screen of this example, 800 is the ground
The surface is shown, and 801 is a building. 802 is the measurement point M
_mLevel C_OB of the screen of_m,_OIt is a screen.
Here, the surface step indicates the number of steps on the screen, and C_OIs the lower row, C₁so
The upper row is shown. Also, on screen B_m,_OThe first threshold of is measured
Point M_mAnd the second threshold is the surface step C_OIs the threshold of
It 803 is M_mC₁(B_{m, 1}) Screen, 804 is
B_{m, 0}And B_{m, 1}It is the overlapping part of the screen. 805
Is M_{m + 1}C₀(B_{m + 1,0}) Screen, 806 is M_{m + 1}, C
₁(B_{m + 1,1}) Screen, 807 is B_{m + 1,0}And B _{m + 1,1}screen
Overlap part, 808 is B_{m, 0}And B_{m + 1,0}Screen
Overlap part, 809 is B_{m, 1}And B_{m + 1}, Each picture of 1
It is the overlapping part of the surfaces. Also, h is the screen height
Is the surface step length, and w is the width of the horizontal width of the screen.
is there.

Next, the system control and environment data file unit 41 which contains the new imaging environment data and the old imaging environment data will be described. This environmental data includes a camera 21, which is a measurement / detection / imaging control unit, an ultrasonic distance meter 22, a measurement end control device 23, a vehicle odometer 24, and a wheel steering angle detector 2.
5, data is exchanged with each device of the azimuth angle detector 26, the inertial level meter 39, and the strut control device 40, and the obtained data is accumulated and stored, and output to the system control environment data workstation 29.

FIG. 14 shows the format of the environment data for new imaging of the system control and environment data file of the present invention. The format of the environment data of this system control and environment data file is the same for both the environment data for old and new images. The contents of the environmental data format are the file item number 141, the target code 142, the imaging start time 143, the target length 144, the width width 145, the measurement point 146,
Face length 147, face range 148, measurement point 149, face 1
50, mileage 151, steering angle 152, azimuth 153,
Tilt angle 154, camera height 155, camera horizontal angle 15
6, camera vertical angle 157, height of ultrasonic rangefinder 158,
The horizontal plane 159 of the ultrasonic rangefinder, the vertical plane 160 of the ultrasonic wave, and the like.

The file item number 141 is an item number of the file that is uniquely assigned to each file, position 10 corresponds to a M _k of the measurement point, the first position corresponds to C _s of Mendan.
The target code 142 is a code assigned to each target area in which the measurement vehicle 100 performs image pickup measurement. The imaging start time 143 indicates the date and time when the imaging measurement is started. Target length 144
Is the length of the imaging measurement target, and indicates the total of the linear distances of the respective measurement points 149. The width 145 indicates the width of one screen. The measurement range 146 is a range up to the measurement points at both ends of the measurement point 149, which is a point obtained by dividing the target length 144 on the road into several points. Face length 147 indicates the length of one face. The plane range 148 indicates the number of stages of the screen of each stage. The surface 150 is filled with C ₀ . The travel distance 151 is set based on the data of the vehicle odometer 24 of the measurement vehicle 100, and the travel distance 151 and the linear distance component between the measurement points are set from the travel distance and set. The steering angle 152 is set by the data of the wheel steering angle detector 25. The azimuth 153 is set by the data of the azimuth detector 26. Inclination angle 1
In the 54, the vertical inclination angle and the horizontal inclination angle are set by the inertial level meter 39. The height 155 of the camera, the horizontal angle 156 of the camera, and the vertical angle 157 of the camera are set by the strut controller 40. Further, the column controller 40 sets the height 158 of the ultrasonic rangefinder, the horizontal angle 159 of the ultrasonic rangefinder, and the vertical angle 160 of the ultrasonic rangefinder.

Next, a case where data is set in the above format will be described. FIG. 15 shows an example in which the system control of the present invention and the setting of new imaging environment data in the environment data file are performed.

The file item number 141 starts from 10. The code “1521” of the area where the target code 142 is the imaging target is set. The target code 142 sets a comparison target by this code when comparing old and new screens. For example, the start time 143 is the time "92,0" represented by the last two digits of the Christian era, the month, the day, and 24 hours when the image capturing is started.
3, 21, 16, 10 "are set. The target length 144 is set to SL = 90 when the target length is 90 m. Since the surface width length 145 of one screen is 10 m in this embodiment, ML =
Write as 10. The measurement point range 146 includes M ₀ to both ends of the measurement point.
M ₉ and the middle of them is M _1, M _2, M _3, M _4, M _5, M _6, M _7, M
₈ Then, a point obtained by dividing the target length 90 into 9 is set as a measurement point. The surface step length 147 is 5 m in this embodiment, and CL =
5, the surface step range 148 is composed of C _{0 to} C ₁ .

Next, regarding the data of the file item number "00",
And explain. M at measurement point 149₀And fill in 15
0 for C₀Fill in. The mileage 151 is measured as the mileage e.
Enter the linear distance component Q between fixed points. However, with the travel distance e
The linear distance component Q between measurement points is M ₀Then, both are “0”.
Steering angle 152 is γ and azimuth μ153 is in the signal direction of the vehicle.
M is the angle indicating the position, and the inclination angle 154 is the lateral inclination angle of the car.
ε, vertical tilt angle ψ, and camera height 155 are the paths of the camera 21.
Height h from the road surface_c, The horizontal angle 156 of the camera is a turtle
Α is the angle indicating the rotation of the la 21 in the horizontal plane._c,camera
The vertical angle 157 of the_uWhen
To do.

For distance measurement by ultrasonic waves, one image pickup screen is divided into 10 equal parts in the horizontal direction and 10 times are measured, and the vertical direction h _u of the ultrasonic range finder is made variable to measure the lowest h. _u is h _u0, superlative h _u is h _ug, measured equally varied 10 times between the horizontal angle 159Arufa _u ultrasonic distance meter from alpha _u0 to alpha _ug. Β _u, which is the vertical angle 160 of the ultrasonic rangefinder, is basically the vertical angle β even if the horizontal angle α _u changes.
Record β _u0 and β _ug corresponding to the horizontal angles α _u0 and α _ug with reference to whether _u does not change. That is, at the horizontal angle 159 of the ultrasonic range finder, the horizontal angles α _u0 and α _ug are β _u0 and β _ug at the vertical angle 160 of the ultrasonic range finder. Hereinafter, in this embodiment, the file item number 141 is "91" from "00".
Is recorded up to.

FIG. 16 shows an example in which the system control of the present invention and the old imaging environment data setting of the environment data file are performed. In this example, the imaging start time 143 must be a time earlier than the time of the new imaging environment data as compared with FIG. The format configuration of the items of the old imaging environment data is the same as that of the new imaging environment data.

The old and new imaging environment data in the formats shown in FIGS. 14 to 16 are stored in the system control and environment data file device 41, and the output is output to the system control and environment data WS 29 via the data bus 28. The old and new imaging environment data in the formats are also stored in the system control and environment data file device 66 shown in FIG. 3, and are output to the system control and environment data WS 61 via the data bus 65.

Next, the new image data file 32 will be described. In addition, this file is stored in the new image data file device 32 and the new image data file device 55 on the base side.
Since it has the same format as the above, the description of the new image data file device 55 is omitted here.

FIG. 17 shows the format of the new image data file of the present invention. In the figure, reference numeral 171 denotes a key of the new image data file 32, and the image data 172 corresponding to the key 171 is stored below the key. The key 171 is the target code 14 of the new image data of the system control and environment data file 41 or 66 described above.
2 and the start time 143 are combined. The image data 172 is screen data corresponding to the image B _{m, m} . The new image data file 55 in the system on the base side is similar to this format, and is output to the new image data display 33 mounted on the vehicle and the new image data WS56 on the base side, respectively.

FIG. 18 shows the format of the old image data file of the present invention. In the figure, reference numeral 181 denotes a key of the old image data file 34, and the image data 182 corresponding to the key 181 is stored below the key 181. The key 181 is a combination of the target code 142 of the old image data of the system control and environment data file 41 and the start time 143. The image data 182 is screen data corresponding to the image B _{m, m} . The old image data file 57 in the system on the base side is similar to this format, and the old image data display 35 mounted on the vehicle and the old image data WS58 on the base side are respectively provided.
Is output to.

FIG. 19 shows the format of the map data file for new image of the present invention. This new image map data file 51 is separately provided in the base system from the old image map data file 53, and the map data is recorded in digital format. The key 191 is a combination of the target code 142 of the system control / environment data file 41 or 66 and the start time 143 like the old and new image data files 55 and 57. Below that is the new image map data 192 corresponding to the key 191, and the data of the plane belonging to the relevant measurement point is included together with the coincidence point U _{m, n} .

FIG. 20 shows the format of the old image map data file of the present invention. The old image map data file 53 is provided separately from the new image map data file 51 in the base system, and the map data is recorded in digital format. The key 201 is a combination of the target code 142 of the system control / environment data file 41 or 66 and the start time 143, like the old and new image data files 55 and 57. Below that is the new image map data 202 corresponding to the key 201, and the data of the surface step belonging to the relevant measurement point is included together with the coincidence point U _{m, n} .

The map data file 30 mounted on the vehicle shown in FIG. 2 has a map data storage area for a new image and a map data storage area for an old image of the map data files shown in FIGS. 19 and 20, respectively. It is output to the display 31. On the other hand, the data stored in the map image file for new image 51 on the base side shown in FIG. 3 is output to the map data for new image WS52, and the data stored in the map data file for old image 53 is for the old image. It is output to the map data WS54.

FIG. 21 shows the distance data file 3 of the present invention.
6 and 59 formats (data for new image) are shown. The distance data files 36 and 59 store the distance data d _ij measured by the ultrasonic distance meter 22 from the ultrasonic distance meter 22 to the imaging target. The key 211 is the system control and environment data file 41 as in the above files.
Alternatively, the target code 142 of 66 and the start time 143 are combined. The measurement point surface step 212 has a measurement point M _m and a surface step C.
indicated by _n, it is represented by having the sense of distance data measured from measuring point M _m in Mendan _{C n (D m, n)} . The distance data part 213 is for the pillar 10 measured in the direction parallel to the road.
3 and the object to be imaged are divided into 10 in the vertical and horizontal directions corresponding to the screen of M _m C _n (B _{m n} ), and the distance to the object at the center of each divided grid is measured. The value is represented by _dij . Where i is the order of the grid from the top in the vertical direction, and j
Is the order of the grid from the left in the horizontal direction.

FIG. 22 shows the distance data file 3 of the present invention.
Formats 6 and 59 (old image data) are shown. This distance data file stores the distance data d _ij measured by the ultrasonic range finder 22 from the ultrasonic range finder 22 to the imaging target. The key 221 is a combination of the target code 142 of the system control / environment data file 41 or 66 and the start time 143 similarly to the above files. The measurement point surface step 222 is represented by the measurement point M _m and the surface step C _n , and is represented by (D _m , _n ) which means the distance data measured at the surface step C _n from the measurement point M _m . The distance data unit 223 divides the distance between the pillar 103 measured in the direction parallel to the road and the object to be imaged into 10 vertically and horizontally corresponding to the screen of M _m C _n (B _mn ), and the center of each divided grid. The distance to the target object is measured, and this value is represented by _dij .

The data shown in FIGS. 21 and 22 are stored in the distance data file devices 36 and 59 and output to the distance display device 37 and the old and new distance WS 60.

Next, the image pickup screen displayed on each display device will be described. FIG. 23 shows an image pickup screen (B
_{m, n} ). This imaging screen is the new imaging screen data file device 32 or the old imaging screen data file device 34.
The image pickup screen data of is controlled by the CPU 38,
It is displayed on the image display 33 or 35. In the figure, each of 230a, 230b and 230c is a coincidence point U.
_This is the point that was input by specifying multiple feature points on the first captured image with _mn . 231 is a building. 232 is a texture processing mesh which always outputs a constant mesh on the background of the screen to facilitate the positioning of the screen.

FIG. 24 shows a map screen (M _m ) according to the first embodiment of the present invention. This map screen is displayed on the map display 31 from the map data file device 30 under the control of the CPU 38. 241 is the house shape, 2
42 is a road, 243 is each measurement point, 243a
Indicates a measurement point M _m-1 , 243b indicates a measurement point M _m , and 243c indicates a measurement point M _{m + 1} . 244 is a locus vector and the measurement vehicle 10
The locus of 0 travel is shown. 245 is a measurement point 243a, 2
It is a straight line route connecting straight lines 43b and 243c.

Next, as a first embodiment, a method of detecting alteration of a building by comparing old and new image pickup screens will be described.
First, the processing with the above configuration will be described.

FIG. 25 shows the moving body of the first embodiment of the present invention.
It is a processing flowchart of the first time. First time is
It means the first measurement for the street to be measured.
ing. In the figure, the measurement vehicle 100 controls measurement detection and imaging.
As an example, the case of imaging at multiple measurement points using
Reveal In the figure, a black mark is on the rightmost corner.
Some are manual processes, others are mechanical processes.
It is the part that is done. Step 271; This is the first measurement for the measurement target.
If it is not the first measurement,
Since it will shift to the routine, it will not appear in this flowchart.
Exit the routine by mouth. Step 272; System control and environmental data file
In the target 41, the target code 142 and the imaging target length 144
(Sc = 90 in this embodiment), surface width 145 (ML = 1)
0), measuring point range 146 (M₀~ M₉), Step length 147
(CL = 5), surface area 148 (C₀~ C₁), Measurement point
149 (M₀), Step 150 (C₀) Etc. are set. This
Is processed by an operator using a workstation, etc.
Is carried out. Step 273; New image map data file 30
Map data M prepared in advance by field survey₀~ M₉
To set. This process also uses a workstation etc.
It is done by the operator. Step 274; measurement point M₀Measurement imaging is performed with. Step 275: The initial value of the measurement point count m is set to 0.
To do. Step 276: The initial value of the face count n is set to 0.
It Step 277; m = 0, n = 0 to m = m + 1, n
= N + 1 and sequentially increment the count of the measurement points,
M₀~ M₉Stop at M_mC_nScreen measurement and imaging
I get various data. Step 278; the data acquired in Step 277
System control and environmental data read from each file
WS29 for display, display 31 for map, for new image
Displayed on the display 33 and the distance display 37
Environment screen E_{m, n}, Distance screen D_{m, n}, Imaging screen B_{m, n}of
Refer to the data image to find the optimal environment screen E _{m, n}， Distance image
Surface D_{m, n}, Imaging screen B_{m, n}And select the imaging screen B_{m, n}Within
Best match point U_{m, n}Set multiple points and map these
Data file 30, system control and environmental data file
Fill in the file 41 and the distance data file 36 respectively.
It Here, the height of the ultrasonic range finder is 158 hu0.
~ Hu8, horizontal angle 159αu0 ~ αu of ultrasonic rangefinder
0, the vertical angle of the ultrasonic rangefinder 160 βu0 ~ βu9 each value
Are respectively αu0 to αu0 between hu0 to hu8.
, Step of 1/10 of the value between βu0 to βu9
Since it is a value to be converted by, do not set it in the file. Step 279: If the count value m ≠ 0, the step
281 and if the count value m = 0, the next step
Move to step. Step 280; System control and environmental data file
Le 41 running distance e of the measuring vehicle 100, straight line distance Q =
0, steering angle γ = 0, and lateral inclination angle ψ = 0. Count value
If m ≠ 0, the process proceeds to the next step. Step 281; System control and environmental data E_{m, n}
To the system control and environment data file 41,
Imaging screen data B_{m, n}And coincidence point data U_{m, n}The new picture
Set it in the image data file 32 and set the distance data D_{m, n}Distance
Set in the separation data file 36. Step 282; Check whether the surface count value n = 0.
If it is determined that n = 0, the process proceeds to step 283. Step 283; count up by 1 and step 27
Move to 7. Step 284: If the surface count value n = 0,
It is determined whether the count value m = 9, and if m = 9,
Measuring point M_mThe measurement image pickup at is completed. Step 285: When the count value m is less than 9
The measurement vehicle 100 to the next measurement point M_{m + 1}Move to. Step 286; Here, vector addition processing is performed,
Map data file 30 according to movement of measurement vehicle 100
And display it on the map display 31.
It (Vector addition processing is the flowchart shown in FIG. 29.
Step 287; the measuring vehicle 100 measures point M_mReached
If the linear distance Q is_m-1And M_mStraight between
Line direction T_mContinue until equal to. Step 288; the straight line distance Q is the measurement point M_m-1And M_mof
Straight direction T between_mEqual to the system control and
M of environmental data file 41_mMileage e, and
Enter Q. Step 289: increment the count value m by 1
Then, the process proceeds to step 276.

Next, the vector addition process of step 286 will be described. FIG. 26 is a vector additive diagram on the map screen accompanying the movement of the measuring vehicle of the first embodiment of the present invention. This vector addition diagram is displayed on the map display 31. The figure shows a state where the measurement vehicle 100 is shifted from the measurement point M _m-1 to the next measurement point M _m at the measurement point M _m. The presence of the measuring vehicle 100 at the measurement point M _m-1 causes displacement of ΔV ₀ (azimuth Σ ₀ at this time), then displacement of ΔV ₁ (azimuth Σ ₁ at this time), and then ΔV. A displacement of ₂ (azimuth angle Σ ₂ at this time) is performed to reach the measurement point M _m .

The azimuth is the measurement point M_m-1And M_mStraight line between
Direction T_mIs used as a reference. These ΔV₀~ ΔV_K
Is the measuring vehicle 100 at the measuring point M_m-1Map from the time it exists in
It is displayed on the display 31. ΔV_KIs the displacement
The measurement vehicle 100 travels in a certain direction (Σ).
Change (circle) or more (ΔΣ) or mileage
(E) T_mConventional when the direction component exceeds Δe
Of the measurement vehicle 100 starting from the end point with the displacement vector of
It is a rank vector. The displacement vector Δe is M_m, M
_m-1Make it smaller than the distance between them. However, in the figure
Vector relation is | ΔV₀│ = Δe₀, | ΔV₁│ = Δ
e ₁, | ΔV₂│ = Δe₂a. Note that the map display
The map screen of the spray 31 shows the displacement vector when the old image is captured.
Toru locus (ΔV '₀, ΔV '₁) Is also a map data file 3
It is read from 0 and displayed.

FIG. 27 is a flow chart of the addition processing of the displacement vector according to the movement of the measuring vehicle according to the second embodiment of the present invention. The process of this flowchart explains step 286 of the flowchart of FIG. Step 291: Measuring vehicle 100 measures points M _m-1 to M
Start moving in the _m direction. Step 292; The variable of the displacement vector is set to K = 0. Step 293: The azimuth angle Σ ₀ = Σ _K and the traveling distance e = 0. Step 294: If the azimuth angle μ measured by the azimuth angle detector 26 has changed to be equal to or more than the preset constant range ΔΣ, the process proceeds to step 295. If the change in the azimuth angle μ is less than the predetermined value ΔΣ, the process proceeds to step 298. Step 295; When the change of the steering angle γ detected by the wheel steering angle detector 25 is changed to a preset predetermined value Δγ or more, the process proceeds to step 296, and when it is less than the predetermined value Δγ, the process proceeds to step 298. Transition. Step 296: When the sum Σ of azimuth angles changes by the change amount Δμ of μ of the azimuth angle, the value of the sum Σ of azimuth angles becomes Σ ₀ + Δμ. Step 297; A displacement vector ΔV _K having an absolute value of azimuth angle Σ _K = Σ and Δe _K = e is generated. Control goes to step 299. Step 298; A straight line distance component T _m of the traveling distance e measured by the vehicle odometer 24 with the movement of the measuring vehicle 100 (
= E cos Σ ₀ ) is predetermined Δe << T _m length (M
_If Δe, which is the linear distance between _m−1 and M _m ) has not been reached, the process returns to step 294, and if Δe is reached, the process proceeds to the next step. Step 299; The straight line distance Q is calculated.

[Equation 1] Step 300; The above process is repeated until the straight line distance Q becomes the length of the straight line distance component T _m , and if Q = T _m , the process is ended, and if it is less than Q, step 30
Move to 1. Step 301: The displacement vector variable K is incremented by 1, and the process proceeds to step 293.

Traveling as shown in the flow chart of FIG.
The measuring vehicle 100 is at the measuring point M at the distance e. _m-1To M_mReached
Total of travel distance e until

[Equation 2] Is entered in the distance data file 36, and the final straight line distance Q is

[Equation 3] Is entered in the distance data file 36.

The processing of the measuring vehicle 100 following the flowchart of the first processing described above will be described. 28 and 29 show flowcharts of general processing by the measuring vehicle according to the first embodiment of the present invention. 28 is a flowchart of the preprocessing portion, and the flowchart of FIG. 29 is the flowchart of FIG.
This is the part of the substantial processing that follows the flowchart of FIG. Step 310; First, the system control and environment data file 41 in which the data is entered in the first processing is considered as a file having old information and the processing is advanced. Since this file manages old and new environmental data according to the measurement start time, the previously processed data is treated as old data. Further, the new image data file 32 used at the first time is treated as an old image data file. Also for the map data file 30, the previous processed data is treated as old data. The same applies to the distance data file 36. Step 311; target code 142, target length 144 of the old data in the system control and environment data file 41
(SL), surface width 145 (ML), measurement point range 146
(M ₀ ~M _9), Mendancho 147 (CL), Mendan range 14
8 (C _{0 to} C ₁ ) is set as new data in the system control and environment data file 41. Further, the measurement start time is entered in the system control and environment data file 41. In addition, system control and environmental data files 4
The new image data file 32, the new image map data file 30, using the target code of 1 and the measurement start time as keys,
Fill in the distance data file 36. Step 312; Erase the previous trajectory (ΔV _K ') of the old data in the map data file 30 and delete ΔV _K and the old trajectory Δ.
Rewrite as V _K '. Step 313; the measurement vehicle 1 at the position of the first measurement point M ₀
Move 00. Step 314: The initial value of the count value m is set to 0. Step 315: The initial value of the count value n is set to 0. Step 316; each measurement point m and its step n (M
_m C _n ), an image is taken for each of the values, and the value is recorded in the system control and environment data file 41 and the new image data file 32.
, And displays them on the system control and environment data display WS 29 and new image display 33. Further, the old data of each file is read and displayed on the system control and environment data display WS 29, the map display 31, the old image display 35, and the distance display 37, respectively. Step 317; If the count value m = 0, the process proceeds to step 320, and if the count value m ≠ 0, the process proceeds to the next step. Step 318; Match point U between the imaged screen and the old image data
The height of the camera 155 (hc), the horizontal angle 156 (αc) of the camera, and the vertical angle 157 of the camera, which are the data of the system control and environment data file 41 so that _mn match.
Adjust (βc). Step 319; If the coincidence points of the image pickup screen and the old image data match, the process moves to the process of FIG. If they do not match, this process is continued until they match. Step 320: As initial values, the traveling distance e = 0, the straight line distance Q = 0, the steering angle γ = 0, and the azimuth angle μ = 0 are set. Step 321: The height 155 (hc) of the data camera of the system control and environment data file 41, the horizontal angle of the camera so that the coincidence points U _0n coincide on the screens of the old image display 35 and the new image display 33. 156
(Αc), the vertical angle 157 (βc) of the camera is adjusted. Step 322; If the matching point of the image on the new image display 35 and the matching point of the image on the old image display 33 match, the process moves to the process of the flowchart in FIG. 29.
If they do not match, the process of step 321 is continued until they match.

Next, the flowchart of FIG. 29 will be described. Step 323: Data of the system control and environment data file 41 (E _mn ), data of the new image data file 32 (B _mn ), distance data of the distance data file 36 (D _mn depending on the coincidence points of the old and new screens). ) To get. Step 324: The data acquired in step 323 are displayed on the system control and environment data WS29, the new image display 33, and the distance display 37, respectively, and the system control and environment data file 41, the new image data file 32, and the distance data file 36 are displayed. Store the acquired data in. Step 325; If the count value n = 0, the process proceeds to step 327. Step 326: If the count value m = 9, this process is ended, and if m <9, the process moves to step 328. Step 327: The count value n is incremented by 1, and the process proceeds to step 316 of FIG. Step 328: The measurement vehicle 100 is moved from the measurement point M _m to M _{m + 1} while referring to the map screen for the new image on the map display 31. Step 329: The locus of the ΔV _K vector is obtained by the above-described addition processing (shown in FIG. 27), and is written in the map data file 30 according to the movement of the measuring vehicle 100. Step 330: The locus of the measuring vehicle 100, the straight line component and the like are displayed on the map display 31. Step 331; If the measuring vehicle 100 reaches the final measurement point M _{m + 1} and the straight line distance Q is equal to the length of the straight line component T _m , the process proceeds to the next step, and if Q <T _m ,
Return to step 328. Step 332: Write the traveling distance in the system control and environment data file 41 as the traveling distance e of the traveling distance 151 and the straight distance Q as distance data of the M _m area. Step 333; The count value m is incremented by 1.

In the above processing, the locus ΔV _K, which is the displacement vector, is additionally displayed on the map display 31. Further, in the matching point adjustment, the system control and the adjustment of the data of the environment data file 41 can be easily automated.

The above is the description of the processing by the measuring vehicle 100. Next, the processing on the base side will be described. This process is based on the old and new image data files 55 and 57, the old and new map data files 51 and 53, the system control and old and new environment data file 66, and the old and new distance data file 59. An electronic medium such as an image, a map, a printed matter, a CD-ROM, an MT, and a magnetic disk from which the portion is extracted is created.

FIG. 30 shows a flowchart of the process up to extraction of a changed cell on the base side according to the first embodiment of the present invention. Step 341: The initial value of the count value m is set to 0. Step 342: The initial value of the count value n is set to 0. Step 343: The captured images of the new image data file 55 and the old image data file 57 are displayed on the new image WS 56 and the old image WS 58 for comparison. Step 344; WS56 for new image and W for old image
In step S58, it is determined whether or not there is a shift or tilt between both images. If there is a shift or tilt, the process proceeds to step 345, and if not, the process proceeds to step 347. Step 345; Map data M _{mn of} the old map data file 53, new map data file 51, system control and old and new environment data file 66, environment data E
Correct the shift and inclination by referring to _mn . Step 346; The image data B _mn is extracted from the old image data file 57 to be the old image data B _mn . Step 347; Here, the changed cell is extracted. The changed cell extraction processing will be described later in detail. Step 348; New distance data D _mn and old distance data D _mn are extracted from the old and new distance data file 59, new distance data d ₀₀ to d ₉₉ and old distance data d ₀₀ to d ₉₉ are compared, and Extract different distance data. Step 349; It is checked whether the changed cell on the image data B _mn is the same as the old and new difference of the distance data D _mn . Step 350; If the same place, Step 352
If it is a different place, the process proceeds to step 351. Step 351: Change cells on the image data B _mn are highlighted in blue and the process moves to step 353. Step 352: The changed cells on the image data B _mn are highlighted in red and the process moves to step 353.

Next, the processing of FIG. 31, which is continuous from FIG. 30, will be described. FIG. 31 shows a flowchart of the new map creation process of the base side process of the first embodiment of the present invention. Step 353; Step 351 and Step 352
The highlighted display screen is displayed on the new image WS 56. Step 354: The old screen data is displayed on the old image WS 58. Step 355; WS56 for new image and WS5 for old image
After confirming the display of No. 8, the operator makes a judgment input to the new image WS 56. Step 356: The cell of the final change portion is set to the new image WS5
6 is highlighted. Step 357: The final conversion partial cell is highlighted in the image data B _mn of the new image data file 55, and its contents are written as an item of the Z-file.

The Z file referred to here is the new image data file 55 highlighted by comparing B _{mn of the} old image data with the changed cells and extracting the cells where the structure is finally modified manually by hand. Create as a file. Step 358: If the count value n = 0, the process proceeds to step 359, and if n ≠ 0, the process proceeds to step 360. Step 359: The count value n is incremented by 1, and the process proceeds to step 343 of FIG. Step 360: If the count value m = 9, the process proceeds to step 362, and if m <9, the process proceeds to step 361. Step 361: The count value m is incremented by 1 and the process proceeds to step 342 of FIG. Step 362: The process is repeated a predetermined number of times to complete the Z file with the data of the portion different from the old image. Step 363: The Z file completed in step 362 and the new map data file 51 are used to create the data in which the modified portion of the building is highlighted as the Y file. The Y file here is named the Y file, which is the new map file 51 in which the modified portion of the building is highlighted from the Z file and the new map file 51. Step 364; Using the Z and Y files completed above, print the map and its image in which the modified portion of the building is highlighted. Step 365: Using the Z and Y files completed above, information such as a map and an image in which the modified portion of the building is highlighted is stored in an electronic medium.

Next, the changed cell extraction processing in step 347 in the above processing will be described. FIG. 32 shows the first of the present invention.
The domain division of the imaging screen of an Example is shown. In the figure, the imaging screen P ₀ is divided into M × N (3 × 8 in this embodiment) domains, and the following processing is performed for each domain.

Domain D _3,8 in FIG. 32 (m = 3, n =
The domain 8) will be described. FIG. 33 shows cell division of a domain of an image pickup screen according to an embodiment of the present invention. _Reference numeral 81 in FIG. 32 is a domain D _3,8 . This domain 81
It is divided into cells of × J (8 × 8 in this embodiment). 82 is one for the divided cells.

FIG. 34 shows an image pickup screen P _{0 according to} an embodiment of the present invention.
The average cell concentration in each cell is displayed. Figure 3
The average density of each cell for the image shown in 3 is obtained. In the figure, 7 indicates the maximum density and 0 indicates the minimum density. Blank cells are 0. The average concentration here is 2.0
It is 9.

FIG. 35 shows the normalized density display of the image pickup screen of the first embodiment of the present invention. In the figure, the density of a blank cell is 0, so it is not described. Here, the normalized density obtained by dividing the average density of each cell by the average density of all cells is found for each cell, and the standard deviation σ of this normalized density is found. In this embodiment, σ = 1.1.

FIG. 36 shows a binarized display of an image pickup screen according to the first embodiment of the present invention. After obtaining the normalized standard deviation, a constant multiple α of α (= 0.5 in the present embodiment, but this is divided into eight levels depending on the density due to the nature of the normal distribution) is a threshold α ·. This binarization processing is performed with σ = 0.55. The binarized display of the imaging screen P ₀ of FIG. 38 is obtained. The value of the blank cell is 0.

The binarization process is performed as follows. C indicates a cell. When C _{i, j} −C _{i, j-1} ≧ ασ d _ij = 1 C _{i, j} −C _{i, j-1} <α σ d _ij = 0 C _{i, j} −C _{i, j + 1} ≧ When α σ, d _ij = 1 C _{i, j} −C _{i, j + 1} <α σ, d _ij = 0 After the above processing, the following processing is performed on i, j where d _ij = 0. When C _{i, j} −C _{i-1, j} ≧ ασ, d _ij = 1 C _{i, j} −C _{i-1, j} <α σ, d _ij = 0 C _{i, j} −C _{i + 1, j} ≧ When α σ d _ij = 1 C _{i, j} −C _{i + 1, j} <α σ d _ij = 0 where C _{0, j} = C _{i, 0} = C _{10, j} = C _{i, 10} = 0 Assuming that C _{i, j} is a normalized density, and d _ij is a binarized value.

FIG. 37 shows domain division of an image pickup screen according to the first embodiment of the present invention. In the figure, (A) shows the domain division of the imaging screen P ₁ , and (B) shows the domain division of the imaging screen P ₂ . These two imaging screens are diagrams obtained by domain-dividing the imaging screens of the same cityscape after a certain period of time from the imaging of the imaging screen P ₀ , as in FIG. 34. However,
It is assumed that the imaging screen P ₁ and the imaging screen P ₂ have a period of about 1 to 2 days, but the imaging screen P ₀ and the imaging screen P ₁ have a period of one month or more. The image pickup screen P ₁ and the image pickup screen P ₂ have an extension portion that is not included in the image pickup screen P ₀ , and the image pickup screen P ₂ has a shadow portion that is not included in the image pickup screen P ₁ . FIG. 3 shows the domain D _3,8 on the imaging screen P ₁ .
8, FIG. 39, FIG. 40, FIG. 41, and FIG. 34, FIG. 35, FIG. 36 of the imaging screen P ₀ in FIG. 42, FIG. 43, FIG. 44, and FIG. 45 for the domain D _3,8 of the imaging screen P ₂ . By performing the same processing as 37, the binary display of the image pickup screen P ₁ and the image pickup screen P ₂ is obtained as shown in FIGS. 41 and 45. As a result, FIG. 41 and FIG.
Comparing the d _ij, to extract the cell unequal d _ij in FIG. 41 and FIG. 45.

FIG. 46 shows an image pickup screen P _{1 according to} one embodiment of the present invention.
And a binarized display synthesized from the image pickup screen P ₂ . In the figure, cells having “N” are mismatched cells at the time of combining. The non-matching cells with “N” are shown in FIG.
The corresponding d _ij is inserted into the binarized display composed of the imaging screen P ₁ , the imaging screen P ₂ and the imaging screen P ₀ shown in FIG. By comparing the d _ij in FIG. 47 and FIG. 36, d _ij
Figure 4 shows the cells with unequal values extracted and marked with "C".
8

The cell marked with "C" in FIG. 48 is a change cell which has the possibility of modification of the building. In the changed cell extraction process, the cells having unequal _dij from the image pickup screen P ₁ and the image pickup screen P ₂ are excluded in order to eliminate the influence of transient image pickup such as a car, a pedestrian, and a shadow. After that, the imaging screen P ₀ , the imaging screen P ₁ and the imaging screen P ₂ are compared,
Although the cells of non-coincidence d _ij were judged to be changed cells, it is impossible to detect the modification of the building in the cells excluded as the transient imaging at the deletion stage, and an error is likely to occur, but the amount is Since it is smaller than the number of non-excluded cells, it is not a big problem.

Further, in the present invention, if there is a large difference between the image pickup screen P ₀ , the image pickup screen P ₁ and the image pickup screen P ₂ in the directions of brightness, contrast, and shadow, the error becomes large, so these image pickups are performed. It is preferable to take an image of dusk or the like, in which there is little difference in brightness and shadow direction between the screen P ₀ , the imaging screen P _1, and the imaging screen P _2, and there is little contrast.

Although the above description of the processing has been centered on the comparison of old and new files, in reality, first, the image pickup screen P
Figure ₁ with ₁ as the old file and imaging screen P ₂ as the new file
6, the processing shown in FIG. 27 and FIGS. 28, 29, and 3
0, the change cell extraction process of FIG. 31 is performed, and FIG. 46 synthesized from the image pickup screen P ₁ and the image pickup screen P ₂ is created by the change cell extraction process of FIG. 31. Then, the image pickup screen P _{0 is changed} to the old file, The image pickup screen P ₁ as a new file is shown in FIGS.
FIG. 46 in which the changed cell extraction processing of FIG. 7, FIG. 28, FIG. 29, FIG. 30, and FIG. 31 is performed and the changed cell extraction processing is created in advance.
FIG. 48 is created by using, and the process after the changed cell extraction process of FIGS. 30 and 31 is performed.

Here, as a second embodiment, a method of detecting the modification of the building by knowing the distance between the measuring vehicle 100 and the object to be imaged will be described. FIG. 49 shows a distance screen (D _{m, n} ) according to the first embodiment of the present invention. This distance screen is displayed on the distance display 37 from the distance data file 36 under the control of the CPU 38. The distance screen (D _{m, n} ) corresponds to each imaging screen (B _{m, n} ), but the distance screen (D _{m, n} ) divides the vertical direction (i) and the horizontal direction (j) into 10 equal parts, and The distance (d _ij ) from the ultrasonic range finder 22 to the object to be imaged is measured at the center position of the lattice, and the (d _ij ) is stored in the distance data section 213 of the distance data file 36. At the same time the reciprocal 1 / d _ij of d _ij stratified, fill it assigns a black number proportional to the reciprocal value of 1 / d _ij with each device corresponding vertical i, the lattice corresponding to the horizontal j . This is subjected to dither processing, and the distance to the image pickup object is shown by the shading of the whole lattice as shown in FIG.

FIG. 50 is a diagram for obtaining the distance from the ultrasonic rangefinder 22 of the second embodiment of the present invention to the object to be imaged. In the figure, point O is the existence point of the ultrasonic rangefinder 22,
The pillar 103 exists in the Z-axis direction. The point S is a building existence point, and ultrasonic waves are emitted from the point O to the point S
Reflected in a point. αu represents the horizontal angle of the ultrasonic rangefinder 22, and βu represents the vertical angle of the ultrasonic rangefinder 22.

The reciprocal of the distance (d _ij ) from the ultrasonic range finder 22 to the object to be imaged is dithered and displayed. Distance from the ultrasonic distance meter 22 to the imaged object (d _ij) obtains the d _ij by the following equation.

[Equation 4] Each term of the above formula can be calculated by substituting the angles α _u and β _u shown in FIG. Therefore, by referring to the key 221 of the distance data file 36, d
The alteration of the imaging target can be detected by _obtaining and comparing _ij .

In this embodiment, it is possible to add an oil damping function or other damping function to the inertial level meter for stabilizing the detected value.

Although ultrasonic waves are used for distance measurement in FIG. 4, infrared rays, laser beams, etc. may be used.

In this embodiment, the measuring vehicle is stationary and the distance is measured by ultrasonic waves, but it is also possible to measure while the measuring vehicle is moving at a low speed. In this case, the object to be measured is Maximum measurement speed of measurement rate (x
Δ [Δ = (10 × 2 m / 340 m) × (x / 3600) × according to km / h)
It is sufficient to install a plurality of ultrasonic wave receiving units in the measuring vehicle with a width of 1000 = 0.016x (m)].

Further, the construction alteration detection process has extremely strong contrast, and an error becomes large in a screen comparison in which shadow portions are different. Therefore, imaging can be performed in monochrome as much as possible when there is little sunlight contrast such as dusk. It is better to choose when the brightness is similar. Also, infrared, camera,
A wide-angle camera for improving the imaging efficiency while considering softening of contrast by the softening filter is desirable.

Further, in FIG. 4, the camera 21 and the ultrasonic range finder 22 are supported by another column 103 and the measuring end control device 23. However, the camera 21 and the ultrasonic range finder 22 are integrated into a camera 21 and an ultrasonic range finder 22. A structure in which the displacement of the ultrasonic rangefinder 22 is reduced is also conceivable.

[0087]

As described above, according to the present invention, there is a possibility that a portion of a building that is likely to be modified will be affected by transitions such as sunlight, shadows, moving bodies such as people and cars, and blinking of electric lights. Since it is possible to extract and display by suppressing mechanization by mechanization processing as much as possible, there is a feature that an image showing a building modification portion or a material such as a map can be efficiently created. In addition, although the present invention uses a vehicle as a measurement, the present invention is not limited to this example, and basically the same is obtained even in an aircraft by using other distance detecting means except the use of ultrasonic waves. It is possible to provide an image or a map based on efficient changes in the cityscape.

[Brief description of drawings]

FIG. 1 is a diagram for explaining the principle of the present invention.

FIG. 2 is a configuration diagram of a vehicle mounting system of the present invention.

FIG. 3 is a system configuration diagram on the base side of the present invention.

FIG. 4 is a diagram showing a related structure of a camera and an ultrasonic range finder of the present invention.

FIG. 5 is a diagram showing a rotation angle of the camera of the present invention.

FIG. 6 is a conceptual diagram of a vehicle odometer of the present invention.

FIG. 7 is a conceptual diagram of a wheel steering angle detector according to the present invention.

FIG. 8 is a conceptual diagram of an azimuth angle detector of the present invention.

FIG. 9 is a diagram showing a rotating state of a rotating shaft of the azimuth angle detector of the present invention.

FIG. 10 is a diagram showing the relationship between the induced voltage and the output voltage in the rotating state of the rotating shaft of the azimuth detector of the present invention.

FIG. 11 is a conceptual diagram of an inertial level meter of the present invention.

FIG. 12 is a diagram for explaining an inertial level meter of the present invention.

FIG. 13 is a configuration diagram of an image pickup screen of the present invention.

FIG. 14 is a diagram showing a format of environment data for new imaging of a system control and environment data file of the present invention.

FIG. 15 is a diagram showing an example in which system control of the present invention and setting of new imaging environment data in an environment data file are performed.

FIG. 16 is a diagram showing an example of system control and setting of old imaging environment data of an environment data file according to the present invention.

FIG. 17 is a diagram showing a format of a new image data file of the present invention.

FIG. 18 is a diagram showing a format of an old image data file of the present invention.

FIG. 19 is a diagram showing a format of a map data file for new image of the present invention.

FIG. 20 is a diagram showing a format of an old image map data file of the present invention.

FIG. 21 is a diagram (new image data) showing a format of a distance data file of the present invention.

FIG. 22 is a diagram (old image data) showing the format of a distance data file of the present invention.

FIG. 23 is a diagram showing an imaging screen (B _{m, n} ) according to the present invention.

FIG. 24 is a diagram showing a map screen (M _m ) of the present invention.

FIG. 25 is a processing flowchart of the first round of the measuring vehicle according to the first embodiment of the present invention.

FIG. 26 is a vector additive diagram on the map screen accompanying the movement of the measurement vehicle according to the first embodiment of the present invention.

FIG. 27 is a flowchart of a displacement vector addition process associated with movement of the measurement vehicle according to the first embodiment of the present invention.

FIG. 28 is a flowchart (preprocessing) of general processing performed by the measuring vehicle according to the first embodiment of the present invention.

FIG. 29 is a flowchart of general processing by the measuring vehicle according to the first embodiment of the present invention.

FIG. 30 is a flowchart of a process up to extraction of a changed cell on the base side according to the first embodiment of this invention.

FIG. 31 is a flowchart of a new map creation process of base side processing according to the first embodiment of this invention.

FIG. 32 is a diagram showing domain division of an image pickup screen according to the first embodiment of the present invention.

FIG. 33 is a diagram showing cell division of domains of the imaging screen P _{0 according to} the first embodiment of the present invention.

FIG. 34 is a diagram showing an in-cell average density display for each cell of the imaging screen P _{0 according to} the first embodiment of the present invention.

FIG. 35 is a diagram showing a normalized density display of an image pickup screen according to the first embodiment of the present invention.

FIG. 36 is a diagram showing binarized display of the image pickup screen P _{1 according to} the first embodiment of the present invention.

FIG. 37 is a diagram showing domain division of an image pickup screen according to the first embodiment of the present invention.

FIG. 38 is a diagram showing cell division of domains of the image pickup screen P _{1 according to} the first embodiment of the present invention.

[Fig. 39] Fig. 39 is a diagram showing average cell in-cell density display of the imaging screen P _{1 according to} the first embodiment of the present invention.

FIG. 40 is a diagram showing a normalized density display on the image pickup screen P _{1 according to} the first embodiment of the present invention.

FIG. 41 is a diagram showing binarized display of the image pickup screen P _{1 according to} the first embodiment of the present invention.

FIG. 42 is a diagram showing cell division of domains of the image pickup screen P _{2 according to} the first embodiment of the present invention.

[Fig. 43] Fig. 43 is a diagram showing an average cell internal density display of the imaging screen P _{2 according to} the first embodiment of the present invention.

FIG. 44 is a diagram showing a normalized density display on the imaging screen P _{2 according to} the first embodiment of the present invention.

FIG. 45 is a diagram showing binarized display of the image pickup screen P _{2 according to} the first embodiment of the present invention.

FIG. 46 is a diagram showing a binarized display synthesized from image pickup screens P ₁ and P _{2 according} to the first embodiment of the present invention.

FIG. 47 is an image pickup screen P ₁ , P ₂ of the first embodiment of the present invention;
It is a diagram illustrating a binary display synthesized from P _3.

FIG. 48 is a diagram showing a change cell according to the first embodiment of the present invention.

FIG. 49 is a diagram showing a distance screen (D _{m, n} ) according to the second embodiment of the present invention.

FIG. 50 is a diagram for obtaining the distance from the ultrasonic range finder according to the second embodiment of the present invention to the object to be imaged.

[Explanation of symbols]

1 1st screen 2 2nd screen 3 3rd screen 4 4th screen 21 Camera 22 Ultrasonic range finder (USWM) 23 Measuring end controller 24 Vehicle odometer 25 Wheel steering angle detector 26 Azimuth angle detection Total 27 A / D conversion signal transmitter / receiver 28 Data bus 29 System control and environmental data display workstation 30 Map data magnetic file device 31 Map display 32 New image data optical magnetic file device 33 New image display 34 Old image data optical Magnetic file device 35 Display for old image 36 Distance data Magnetic file device 37 Display for distance 38 CPU 39 Inertial level meter 40 Strut controller 41 System control and environmental data Magnetic file device 51 N map data file device 52 N map data file device 53 Old map Workstation 54 old map workstation 55 new image data file device 56 new image data workstation 57 old image data file device 58 old image workstation 59 new and old distance data file device 60 distance workstation 61 system Control and environment data workstation 62 CPU 63 Printing machine 64 Recording medium creation device (CD / ROM, MT, magnetic disk, etc.) 65 Data bus 66 System control and N.V. O environment data magnetic file device 100 measurement vehicle body 101 wheel 102 axle 103 pillar 104 road surface 131 pillar outer cylinder 132 pillar inner cylinder 133 data line 201 upper and lower pillars 202 guide disk 203 guide shaft 204 motor 205 motor rotation control line 210 N environment ( Ε) File 211 File item number 212 Target code 213 Start time 214 Face width 215 Measuring point / range 216 Face length 217 Face range 218 Measuring point 219 Face 220 mileage 221 Steering angle 222 Azimuth 223 Vertical and horizontal inclination 224 Camera Cylinder 225 Camera horizontal angle 226 Camera vertical angle 227 USW height 228 USW horizontal angle 229 USW vertical angle 230 Target length 231 O environment (Ε) file 232 key 233 screen data 234 key 235 screen data 236 key 2 37 screen data 238 key 239 map data 240 key 241 measurement point plane step 242 distance data 243 key 244 measurement point plane step 245 distance data 401 pulse distance data converter 402 light emitting element 403 light receiving element 404 detection disc hole 405 detection circle Plate 501 Axle rotating shaft 502 Axle protrusion 503 Light receiving element 504 Light emitting element 505 Pulse angle data converter 506 Pulse transmission line 601 Core 602 Upper winding 603 Lower winding 604 Rotating shaft 605 Rotating shaft protrusion 606 Light emitting element 607 Light receiving element 608 Motor 609 Phase azimuth converter 610 Geomagnetic flux 611 Phase difference 701 Horizontal tilt detection branch 702 Horizontal rotation axis 703 Horizontal light emitting element 704 Horizontal light receiving element 705 Vertical tilt detection cylinder 706 External support housing 707 Vertical rotation 708 Vertical tilt detecting branch 709 Vertical light emitting element 710 Vertical light receiving element 711 Vertical tilt angle (ε) detector 712 Horizontal tilt angle (φ) detector 713 Vertical tilt ground 714 Horizontal tilt ground 800 Ground surface 801 Building 802 M _m C _p (B _{m, 0} ) screen 803 M _m C ₁ (B _{m, 1} ) screen 804 B _{m, 0} and B _{m, 1} screen overlap area 805 M _{m + 1} C ₀ (B _{m + 1,0} ) screen 806 M _{m + 1} , C ₁ (B _{m + 1,1} ) screen 807 B _{m + 1,0} and B _{m + 1,1} screen overlap 808 B _{m, 0} and B _{m + 1,0} screen overlap area 809 B _{m, 1} and B _{m + 1} , 1 screen overlap area

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeji Ozeki 1-1-6 Uchisaiwai-cho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation (72) Mitsuru Honda 26 Imaike Minami, Chikusa-ku, Nagoya-shi, Aichi No. 4 Honda Takou Co., Ltd.

Claims (4)

[Claims] 1. In a cityscape tracking map creation method for detecting alteration of an imaging target based on a screen imaged, a first screen imaged at a time A and a date A at a time C elapsed by a period B from the time A. The second screen, which is the same as the target image, and the different images on the first screen and the second screen are deleted from the first screen or the second screen and are combined. The third screen, which is a screen, and the date and time A from the date and time A to the date and time G, which has been past in the past, for a period F longer than the period B.
Using the fourth screen obtained by imaging the same object as above, the third screen and the fourth screen are compared, and the difference between the third screen and the fourth screen is If there is, it detects the part as a modified part of the imaging target, a streetscape tracking map creation method. 2. A distance record for recording a measurement result by emitting a signal to measure the distance between the image pickup side and the object when the same object as the screen image object is picked up at the same time of image pickup. In the case of creating and detecting a modification of a building from an imaging screen, at the same position as the first distance record measured and recorded by emitting the signal at the same time when the object to be imaged is imaged. When a difference is generated between the first distance record and the second distance record by comparing with the second distance record measured and recorded, an image pickup screen corresponding to the first distance record and the second distance record. A method for creating a cityscape tracking map, which compares the image pickup screens corresponding to the distance record of 1. and detects the changed portion as the changed portion when there is a different portion in the image pickup target. 3. In a cityscape tracking map creating method for detecting a modification of a building based on a screen imaged, when comparing a plurality of screen images of the same object at different imaging dates and times, each screen is the same. In the same shape, the cells are divided into the same number of cells in the same area, the average concentration in each cell is averaged for all cells, the average concentration of all cells is obtained, and the average concentration in each cell is divided by the average concentration of all cells Then, the standard deviation of the standardized density is calculated, and the standard value is calculated from the standard deviation. The difference between the standardized density of the cell of interest and the normalized density of the peripheral cells in contact with the cell is the standard. When the value is equal to or more than the value, the cell is identified as a changed cell that may be modified in the imaging target, and only the changed cell in the screen is compared between screens, and the brightness and contrast of each screen are different from each other. To suppress that The streetscape tracking map creation method according to claim 1, wherein: 4. A cityscape tracking map creation method for detecting alteration of an imaging target based on an imaged screen, wherein the fourth screen is the first screen and the second screen to be compared in order to detect alteration. 2. The streetscape tracking according to claim 1, wherein among the screens obtained by photographing at least one of the two screens a plurality of times, images different from each other are deleted and synthesized. Map creation method.