JPS6285814A - Device for leading out three-dimensional quantity information from at least one pair of binocular photograph - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention relates to at least one object, such as an aerial photograph of the earth's surface.
The present invention relates to a device for deriving three-dimensional quantity information of an object from a set of binocular photographs. More specifically, the present invention includes:
It comprises a support means for supporting binocular photography, a measuring means for determining the positional and angular coordinates of the support means with respect to a preset coordinate system, and a physical observation system, and the support means has a preset degree of freedom. Adjustment that determines the difference in position coordinates of corresponding images in a single photographic image of a binocular photograph, while being movable, allowing the user to derive the desired three-dimensional quantity information for any point in the binocular photograph. This is a description of the above-mentioned device installed in a physical observation system.

In the prior art photography department, aerial photographs are used, which are measured and further processed by a physical device. The purpose is to derive three-dimensional topographical quantities from two photographs taken from different positions. In the optical observation system of a stereoscopic device, a measuring mark, for example, a sharp measuring mark, is provided, so that all observation points can be displayed in a space in a stereoscopic image. Every position determined is defined by corresponding position coordinates in both photographs. The required topographical coordinates can be derived from the positional coordinates of the photo using a computational system based on the relationships known from the photogrammetry.

Aerial photographs (negatives) are usually recorded on film strips. 2
The common topographical range (overlap) of consecutive records covers about 60% of the photographic size. A copy (positive) of each record is used for further processing (rest one on) with 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 are further determined by the orientation of the photograph relative to the measurement system of the deflection corrector. The orientation task may or may not be fully or partially automated, but is performed 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 structure 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 application field, for example in the fields of geomorphology, 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 this will further expand the field of application.

SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a device that allows the use of parameters that are predetermined in a separate procedure so that no orientation operations have to be carried out during deviation correction.

To this end, 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 can be measured by the user in said plane. The binocular photograph is held in a predetermined position relative to the support plate while being freely movable relative to the means.

In a preferred embodiment of the invention, the support plate 1-8 is connected to three linear measuring devices each having a fixed measuring line, and furthermore, two of said measuring lines are at a distance M(D) from each other.
) and are parallel to each other (7+, vt), and the remaining one of the measurement lines ff) is perpendicular to the two measurement lines. In this case, it is desirable that the L footrest line measuring device abuts the mutually perpendicular edges of the support plate at points set on the measurement lines -H corresponding to the valleys. In this embodiment, the longitudinal axis of the linear measuring device always passes through the contact point between the linear measuring device and the supporting plate when the supporting plate is rotated.

The device according to the invention differs from conventional devices in that it requires only one support plate for photographs, in particular two or three photographs connected to each other forming a set and two sets of connected binocular photographs. Equipped with. 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 ma-axis 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 Ab
be) is reliably 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.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of the present invention will be described 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. Accurate positioning of the stereoscopic image 2 is ensured by fixing pieces 5 cooperating with edge holes of the stereoscopic image 2. The coordinate system on the plane of the real image 2 is expressed as and y. Photo blindness 'l-+t q-: blindness 4 small fortune-telling' L
"4・ztona-" Seaket Chief 1F 3 image points a', b
' and C' are shown. It will be clear that the stereoscopic information about the elevation of the relevant terrain points correlates with the difference in the positions of the relevant points in photos 3 and 4.

Now consider point a. The values of x'' and y'' can be expressed as follows.

X"=x'+Px y"=y'-1-py where Px and py are the X and y components of the parallax P, respectively. the camera is oriented exactly vertically, and
In an ideal recording, where the recording level is the same for every recording, all connections between pairs of corresponding image points directly above the recorded entity would 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 recording, there is a y-axis parallax difference in the real image, so
The connections generally run non-parallel. The angular displacement is therefore a function of the orientation parameter and the terrain level difference. Apart from the X-axis parallax, the parameter also influences the value of the X-axis parallax, so that the value P as its influence appears on the real side.

In the device according to the invention, the relative position of the right-hand image with respect to the left-hand image is expressed by the angular displacement α of the connection between the relevant image points and the distance MP along the connection. The relationship between the X-axis parallax and the X-axis parallax is expressed as follows.

Px=P-cosa Py=P-srnα 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 real side 2 has an xy coordinate system, and the position coordinates of the image points a° and a'' must be expressed with respect to the xy coordinate system.The positions of a゛ and a'' must be expressed with respect to the fixed auxiliary coordinate system Y7. Found by measurement.

At this time, this entity side is positioned as follows.

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

2) The connection a'a'' extends parallel to the xy axis.

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

x'=(Dmarma')cosa y'=(Dy-yI)cosa It is determined by a procedure known as aerial triangulation (A,T,) based on precise measurements. For this purpose, special stereo comparators are used in modern photogrammetry. Such a stereo comparator is necessary for the measurement principle on the real side in aerial triangulation. However, no conventional stereo comparators are configured or capable of measuring the physical side of the type described herein. The above measurement system is extremely accurate as a special stereo comparator for stereoscopic images.

Apart from its use as a stereo comparator, the device according to the invention can also be used as an analysis plotter (
It is also very suitable as a deviation corrector in photogrammetry, known as A, T, ).

FIG. 3 shows a device 6 according to a first embodiment of the invention. The device 6 comprises a flat support plate I as shown in FIG. 1, on which the real side 2 is fixed in a special way with a fixing piece 5. The support plate 1 is not shown in FIG. 3, but is movable in its own plane with respect to a fixed coordinate base or 7 shown in FIG. Binocular physical observation system 7 is 2
The book has vertical observation lines 8 and 9, along which two corresponding image points can be observed.

In this optical system, the observation line 7 on the left side of the point to be measured has a fixed position, and the observation line 9 on the right side can be moved in the axial direction by a measuring screw 54. The parallax P is measured by adjusting the screw 28. APL measuring ruler 11.12 each movable in the axial direction along three fixed measuring lines positioned in the horizontal plane in which the support plate l moves.
．． and 13, the parameters i, y and α are measured.

Ruler 11. +2 and 13 are provided with fixed indicators 14.15 and 16, respectively, for reading the associated measurement values. In this example, indicators 14.15 and 1
6 also acts as a position sensor supplying a relevant position signal to a computer 19 which is arranged to obtain the necessary information from the input signals provided. The longitudinal axes of two of the fixed measurement lines, namely rulers 11 and 12, are parallel to the p-axis, and the fixed measurement line of ruler 13 extends in the ma-axis direction.

The ends of the measuring rulers 11.12 and 13 cooperating with the mutually perpendicular lateral edges 17 and 18 of the support plate 1 are sharp, so that the measuring lines are clearly defined and follow the well-known Atsube measuring principle. Measurement rulers 11 and 13 are used to satisfy
The position of the measuring line is selected so that it intersects the fixed line of the side 8 of the observation system 7. The measurement line of the measurement ruler 12 has a certain distance from the measurement line of the measurement ruler 11. Measuring rulers 11, 12 and 13 are placed on the lateral edges 17 and J of the support plate 1.
- and 18, the measuring rulers 11, 12 and 13 are also moved during the movement of the support plate l. The orientation and position of the support plate I are indicated by the indicators 14.15 and 16. +5
and 16 to the computer 19, respectively. Along with the measured value of the parallax P by the measuring screw 54, in the embodiment of FIG.
0 provides an output signal, these data being sufficient to represent any pair of points of the stereo image in position coordinates according to the measurement principle described above.

In order to precisely adjust the angular position α of the support plate I, the freedom of movement of the support plate 1 is controlled by a parallel guidance system 21, and the orientation of the parallel guidance system 2I is adjusted by means of an adjustment screw 22. Adjustment screw 22 is connected to a stepping motor 23 controlled by computer 19. It will be clear that the measuring screw 54 could also be controlled by a motor controlled by the computer 19.

The parallel guide stem 21 comprises a rotating disk 21 which cooperates with the support plate I via two hinge rods 24 and 25. The disc 21 is driven in rotation via the rods 26 and 27 by an adjusting screw 22, which also cooperates for this purpose with the free end of the hinge arm 28.

In observation system 7, measurement targets 9 and 10 function as an optical unit.

The measuring screw 54 cooperates with a table 31 that is movable in the Y-axis 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 9 can be moved and adjusted to a point corresponding to the adjusted image point. Photo 3
Observation system 7 receives the images of photographs 3 and 4 via semi-transparent mirrors 32 and 33 so that corresponding points on and 4 optically coincide with the respective measurement targets.

The above embodiment of the invention, device 6, can be used both as a stereo comparator and as an analysis block. 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 is provided with indicators 14.15 and 16, which act as sensors;
The information of fingers i14, 15 and 16 is entered directly into the computer.

FIG. 4 shows another embodiment of the invention. The device 34 is shown schematically and differs from the device 6 of FIG. 3 in the number of pictures 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 pictures 35.36 and 35.37 are created.

The propagation of is reduced.

The device 34 includes a left eyepiece 39 and a right eyepiece 40.
A physical observation system 38 is provided.

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 to be physically observed together with the corresponding landmarks 42 and 44. Photo 3
The related image of No. 5 is attached to the physical observation system 38 along with the measurement target 42.
It should be noted that the path 56 is in the direction of . The image passes through the lens 57, is reflected by the prism 58 toward the semi-transparent mirror 51, and then reaches the right eyepiece 40 via the doped prism 59, where it is observed by the user. The image of the photograph 37 is observed together with the measurement target 44 through the left eyepiece 39. The image of the photograph 37 passes through the passage 6 via the prism 48 and the lens 65, passes through the semi-transparent mirror 50, and is then reflected by the semi-transparent mirror 49.
Next, it passes through a semi-transparent mirror 52, and further passes through a prism 6.
1, and finally reflected by the reciprocal prism 62, the photograph 35 is observed through the left eyepiece 39 together with the measuring target 42 in the operating mode of the solid observation system 38 shown by the broken line toward the left rear eye; Furthermore, photo 36 is measuring marker 43.
Both are observed through the right eyepiece 40.

Itself known as “clip-c”
A switching device called ``top'' is provided.

This switching device is rotatably provided so that the prism 62
It includes an opaque screen 53 connected to the opaque screen 53. 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 mode of operation shown in broken lines, the screen 53 blocks the passage of light between the mirrors 49 and 52. At this time, the image of photo 42 is mirror 57. prism 58. Semi-transparent mirror 52. It passes through the prism 6 and the triangular prism 62, passes through the path 56, and finally reaches the left-hand side lens 39.

The image of the photograph 36 together with the measurement target 43 passes through a path 63 via a prism 47 and a lens 64, and then passes through a semi-transparent mirror 49.
The light is reflected by a mirror 50, then passes through a semi-transparent mirror 51 and a doped prism 59, and finally reaches the right eyepiece 40.

The side line 55 of the measuring marker 42 corresponding to the central photograph 35 has a fixed position. In contrast, the side line 6 in photos 36 and 37
6 and 67 are movable by means of corresponding carriages 45 and 46, respectively, along with corresponding measurement marks 43 and 44, and the positions of carriages 45 and 46 can be adjusted in the X-axis direction corresponding to table 31 in FIG. Therefore, necessary adjusting means such as the adjusting screw 54 of FIG. 1 are not shown in FIG. 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 achieved by optical switching of the stereoscopic observation system 38, i.e., 180° rotation of the prism 58 and movement of the opaque screen 53. It is clear that only

Since the embodiment of FIG. 1 has been described, a functional explanation of the embodiment of FIG. 4 will be omitted. ? It will be clear that the adjustment of the axial lateral lines 66 and 67 is 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 will not receive erroneous stereoscopic information such as misunderstanding height as depth or vice versa.

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.

As a result of the partial overlap with pictures 36 and 37, the switching between the two sets of binocular pictures 35.37 and 36.35 does not introduce any connection errors, and the central picture 35 can be completely 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 of the invention. FIG. 4 is a perspective view showing an apparatus for correcting the deviation of a binocular photograph consisting of a pair of photographs according to a first embodiment, and FIG. This is a schematic illustration of a device for correcting deviation, and FIG. 5 is a cross-sectional view taken along the line ■--■ in FIG. 4. ■... Support plate, 2... Stereo image, 6... Device, 7... Binocular stereo observation system, 9.10
...Measurement marker, II, 12.13...Measurement ruler, 14.1
5.16...Fixed index, 19...Computer, 20...Position sensor,'l) I,,,Car 2 child care system 99,,
, Hosoftachi・ノ31...table, 34...
- Apparatus, 38... Substantive observation system, 39... Left eyepiece, 40... Right eyepiece, 49.50.51.52... Semi-transparent mirror, 53.
...Opaque screen, 54...Measuring screw, 59...
・Dope prism, 62... Equal prism. Patent applicant: Stichting Internacional Institut voor Ruchtau en Räimtekartelling en Aartkunde (ETSE) Agent: Patent attorney Maeda Nao and two othersFIG, 2

Claims (8)

[Claims] (1) A device for deriving three-dimensional quantity information of an object, such as an aerial photograph of the earth's surface, from at least one set of binocular photographs of the object, comprising a support means for supporting the binocular photographs, and a coordinate system set in advance. The supporting means is provided with measuring means for determining the positional coordinates and angular coordinates of the supporting means, and a physical observation system, and the supporting means is movable with preset degrees of freedom, while the user can In order to derive desired three-dimensional quantity information for a point, 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 binocular photography; The means comprises only one flat support plate supporting the binocular photograph in one plane, and the support plate is freely movable relative to the measuring means by the user in said plane, and the support plate An apparatus characterized in that it is configured to hold a binocular photograph at a predetermined position relative to a board. (2) In the device described in claim 1,
The support plate is connected to three linear measuring devices each having a fixed measuring line, and two of the measuring lines are parallel to each other (@y@ ＿
1, @y@_2), and the remaining 1 of the above measurement line
The book (@x@) is characterized by being perpendicular to the two measurement lines. (3) In the device described in claim 2,
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, wherein the support plate is provided with means for abutting against 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 device is characterized in that the relative position of the overlapping portion is reliably fixed by placing the overlap portion in place. (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 @x@ axis direction. (7) In the device according to claim 2 or 6, one of the fixed observation lines passes through the intersection of the measurement lines of two of the linear measurement devices. Features. (8) The device according to any one of claims 1 to 7, characterized in that the support plate is connected to an adjustment device that determines the angular position of the support plate by means of a parallel guide system. Something to do.