KR102642144B1 - Image processing system for correcting image by synthesizing location information with image - Google Patents

Abstract

The present invention relates to an image processing system, and more specifically, includes an image output module, an image control module, a GNSS module, a relational calculation module, a distortion ratio confirmation module, a coordinate value setting module, and a coordinate correction module, The captured image acquired through an aerial imaging device and provided to the image output module is always acquired at a fixed altitude and location centered on a preset shooting reference point, and location information that can be provided to the image output module at a constant level without significant deviation each time This relates to an image processing system that can be corrected by combining captured images.

Description

An image processing system that can correct location information by combining it with a captured image {IMAGE PROCESSING SYSTEM FOR CORRECTING IMAGE BY SYNTHESIZING LOCATION INFORMATION WITH IMAGE}

The present invention relates to an image processing system, and more specifically, to an image processing system that can correct location information by combining it with a captured image.

Orthoimages are obtained by correcting the deviation of an aerial photograph, which is a central projection, into an orthoprojection like a map. Here, deviation correction is the process of correcting the inclination (tilt) and scale (photography magnification) that occur when shooting using a camera.

For these orthoimages, ground images are secured through orthophoto projection, error-free orthoimages are extracted using a digital elevation model (DEM) on the secured orthophoto images, and the colors of the orthoimages are again corrected and aggregated to produce error-free orthoimages. It is constructed through a series of processes that include correction and final quality inspection.

The conventional method of producing an orthophoto from an aerial photo creates a corrected aerial photo through an internal facial expression process that corrects for the distortion of the aerial photo itself, and represents the relationship between the photo coordinates of the corrected aerial photo and ground coordinates. Using collinear condition equations and ground reference points from GNSS (Global Navigation Satellite System) surveying, external expression was performed using the bundle adjustment method to obtain the 6 facial expression elements, and an orthoimage was produced using the 6 facial expression elements and digital elevation data obtained in this way. .

In addition, the above-described conventional method of producing an orthophoto from an aerial photo uses the Newton-Rapson method when creating an aerial photo corrected through an internal facial expression process and when creating a normal image. Robson's method is a method of finding a close solution by repeatedly updating the initial value, so the calculation process requires a lot of time.

In addition, aerial photos scanned and stored on a computer usually have a data capacity of about 400 megabytes per sheet, but if distortion-corrected aerial photos are separately produced and stored as in the past, an equivalent amount of data capacity is needed. There was a problem.

To solve this problem, Korean Patent No. 10-0544345 (title of the invention: method for producing orthophotos from aerial photographs) was proposed.

However, although the above-mentioned 'method for producing orthoimages from aerial photos' is a technology to reduce the load on the computer in the process of carrying out the conventional method of producing orthoimages from aerial photos, the orthoimage coordinates are calculated for each reference point of the aerial photo. and distortion value calculations for this must be performed one by one, so the load on the computer has not been significantly reduced.

Additionally, for this reason, there was a limitation in that orthocorrection of aerial photos could not be performed in real time on aircraft that collect aerial photos through aerial surveying.

The matters described as background technology above are only for the purpose of improving understanding of the background of the present invention, and should not be taken as recognition that they correspond to prior art already known to those skilled in the art.

The present invention is intended to solve the problems of the prior art described above. The captured image is acquired through an aerial photography device and provided to the image output module. The image is always acquired at a determined altitude and position around a preset shooting reference point, and the image output module The purpose is to provide an image processing system that can be corrected by combining location information that can be provided at a constant level without significant deviation each time with a captured image.

In addition, the present invention will greatly improve the function of orthocorrecting the captured image in real time and outputting the orthoimage as well as the ground reference point coordinates applied to the captured image with a minimum of time and system load. Another purpose is to provide an image processing system that can correct location information by combining it with captured images.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description of the present invention. .

The configuration of the present invention to achieve the above object is to output a captured image while operating according to a control value, and to have a plurality of X-axis and Y-axis lines arranged in a grid so that the coordinates of each point in the captured image can be confirmed. An image output module that operates by applying the captured image coordinate system; An image control module that generates control values for controlling the operation of the image output module and transmits them to the image output module; GNSS module that determines the aircraft's current position in GNSS coordinates; A relational calculation module that calculates ground reference point coordinates with captured image coordinates; The input coordinate values of two or more ground reference points are transmitted to the relational calculation module to be calculated as the captured image coordinate value, the location of the captured image coordinate value received from the relational calculation module is checked based on the captured image coordinate system, and the origin of the captured image coordinate system is confirmed. The first distance, which is the distance between the coordinate values of the captured image, is calculated for each point, and the second distance, which is the distance between the ground reference point coordinate value of the origin confirmed in the GNSS module and the input ground reference point coordinate value, is calculated for each point. The distance difference between the confirmed second distance and the confirmed first distance for each point is checked for each point based on the second distance to check whether the first distance difference is greater than the second distance difference for each point, and the first distance difference for each point is checked. A distortion rate confirmation module that checks the distortion rate, which is the increase or decrease rate of; Set the ground control point along the latitude and longitude directions centered on the origin, check the interval between ground control points that changes with the distortion ratio, set the location of the ground control point in the captured image, and set multiple latitude axes and longitude lines connecting the set ground control points. A coordinate value setting module that generates a ground reference point coordinate system in which axes are arranged in a grid, and links the ground reference point coordinate system and the captured image coordinate system so that the captured image coordinate values corresponding to the ground reference point coordinate values are linked; and select the ground object to be confirmed in the captured image, check the first coordinate value of the ground control point coordinate system where the image of the ground object to be confirmed overlaps, search the ground control point DB for the actual ground control point coordinate value of the ground object to be confirmed, and enter it in the ground control point coordinate system. Check the applied coordinate value to be modified, move the longitude axis and latitude axis corresponding to the coordinate value to be modified so that they become the longitude axis and latitude axis corresponding to the first coordinate value, and move them to neighbors based on the moved longitude axis and latitude axis. A coordinate correction module that modifies and applies different longitude and latitude axes to the captured image so that they are arranged according to the distortion ratio; It is characterized by including.

An image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention includes an aerial photography device that transmits a captured image to the image output module; and an aerial photography guidance device installed at the filming reference point so that the task of acquiring the photographed image through the aerial photography device can be carried out at a determined location based on the preset filming reference point; It is desirable to further include.

In an image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the aerial photographing device includes: a rotation drive unit rotatably installed on the bottom of the aircraft; A pair of moving driving units coupled to the lower part of the rotation driving unit and capable of moving in the longitudinal direction; A pair of lifting actuators coupled to the lower part of the pair of moving actuators; A pair of horizontal rotation drives installed at the lower part of the pair of lifting drives and capable of rotating clockwise or counterclockwise; and a pair of photographing units coupled to the lower part of the horizontal rotation drive unit and acquiring photographed images; It is desirable to include.

In an image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the photographing unit includes: a photographing support body provided in an oval shape; A photographing module provided on one side of the photographing support body and rotated together with the photographing support body; A horizontal detection sensor provided in the photographing module to detect the horizontal of the photographing module; And a plurality of photographing rotation cylinders coupled to the photographing support body to rotate the photographing support body; It is desirable to include.

In an image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the horizontal driving part includes a driving plate to which upper portions of a plurality of photographing rotation cylinders are coupled and provided with a first rotation gear; and a drive motor including a second rotation gear engaged with the first rotation gear and rotating the drive plate clockwise or counterclockwise; It is desirable to include.

In the image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the lifting unit includes a first base plate to which a driving shaft provided on the driving plate is coupled to rotate; and a plurality of lifting cylinders that are hinged to the upper surface of the first base plate and lift the first base plate. It is desirable to include.

In the image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the moving part includes a second base plate to which upper portions of a plurality of lifting cylinders are coupled; and a movement guide coupled to the upper part of the second base plate and moving together with the second base plate; It is desirable to include.

In the image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the rotation drive unit includes: a rotation drive cylinder coupled to the bottom of the aircraft; a connector arm disposed at the bottom of the aircraft, coupled to the rotary drive cylinder, and moved in the direction of the rotary drive cylinder; A first rotating part connected to the connector arm and rotated by the driving of the rotary driving cylinder, and to which one moving driving part of the pair of moving driving parts is coupled; and a second rotating part connected to the connector arm so as to be spaced apart from the first rotating part, rotated by the driving of the rotary driving cylinder, and coupled to the other moving driving part of the pair of moving driving parts; It is desirable to include.

In the image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the first rotating part includes a first connection arm whose one side is rotatably coupled to the connector arm; a first rotary body coupled to the other side of the first connection arm and rotated by driving a rotary drive cylinder; a first rotation support shaft, one side of which is coupled to the aircraft and the other side of which is coupled to the first rotation body to support the rotation of the first rotation body; and a first guide rail provided on the lower surface of the first rotating body to guide the movement of one moving driving unit; It is desirable to include.

In the image processing system that can correct location information by combining it with a captured image according to an embodiment of the present invention, the second rotating part has one side rotatably coupled to the connector arm and a second connecting arm that is spaced apart from the first connecting arm. ; a second rotary body coupled to the other side of the second connection arm and rotated by driving a rotary drive cylinder; a second rotation support shaft, where one side is coupled to the aircraft and the other side is coupled to the second rotation body to support the rotation of the second rotation body; and a second guide rail provided on the lower surface of the second rotating body to guide the movement of the remaining moving driving unit; It is desirable to include.

In the present invention, which has the above configuration, the captured image obtained through an aerial photography device and provided to the image output module is always acquired at a determined altitude and location around a preset shooting reference point, and is provided to the image output module at a constant rate without significant deviation every time. As the level is provided, the function of orthocorrecting the captured image in real time and outputting the orthoimagery as well as the ground reference point coordinate values applied to the captured image with a minimum of time and system load is greatly improved. This has the effect of increasing work efficiency.

The attached drawings are intended as reference for understanding the technical idea of the present invention, and are not intended to limit the scope of the present invention.
Figure 1 is a block diagram showing the overall configuration of an image processing system capable of correcting location information by combining it with a captured image according to an embodiment of the present invention.
Figure 2 is a flowchart showing the process of generating a ground reference point coordinate system within a captured image performed in an image processing system according to an embodiment of the present invention.
Figure 3 is a diagram illustrating a point corresponding to a ground reference point coordinate value displayed on a captured image coordinate system to calculate the distortion rate of a captured image in an image processing system according to an embodiment of the present invention.
Figure 4 is a diagram illustrating a ground control point coordinate system for inputting a ground control point in a captured image in an image processing system according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating the ground reference point coordinate value for a specific point of a captured image selected by an operator in the image processing system according to an embodiment of the present invention displayed in the ground reference point coordinate system of FIG. 4.
Figure 6 is a diagram illustrating confirmation of a matching state between the reference point coordinate system and a captured image in an image processing system according to an embodiment of the present invention.
Figure 7 is a diagram sequentially illustrating the modification of the ground reference point coordinate system in the image processing system according to an embodiment of the present invention.
Figure 8 is a diagram sequentially illustrating the orthoprocessing process of a captured image performed in an image processing system according to an embodiment of the present invention.
Figure 9 is a diagram illustrating an imaging geometry formed when driving an image processing system according to an embodiment of the present invention.
Figure 10 is a diagram showing the relationship between the coordinate value of a captured image formed when driving an image processing system according to an embodiment of the present invention and the shooting direction vector u.
FIG. 11 is a graphical diagram illustrating correction of distortion of a captured image in an image processing system according to an embodiment of the present invention.
Figure 12 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention.
Figure 13 is a diagram illustrating a state in which the acquisition position of a captured image is determined in an aerial photography device through an aerial photography guidance device according to an embodiment of the present invention.
Figure 14 is a diagram showing the overall appearance of an aerial imaging device according to an embodiment of the present invention.
Figure 15 is a bottom view showing an aerial imaging device according to an embodiment of the present invention as seen from below.
Figure 16 is a view showing a side view of the aerial imaging device according to an embodiment of the present invention.
Figure 17 is a diagram showing the operation of the rotation drive unit according to an embodiment of the present invention.
Figure 18 is a diagram showing the operation of the second base plate moved in the longitudinal direction according to an embodiment of the present invention.

Hereinafter, based on the attached drawings, the present invention will be described in detail so that those skilled in the art can easily practice it. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts that are not relevant to the description are omitted, and identical or similar components are assigned the same reference numerals throughout the specification.

In addition, terms or words used in this specification and patent claims should not be construed as limited to their usual or dictionary meanings, and the inventor must appropriately use the concept of terms to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle of definability.

Figure 1 is a block diagram showing the overall configuration of an image processing system capable of correcting location information by combining it with a captured image according to an embodiment of the present invention.

The image processing system according to the present invention orthocorrects aerial photos (captured images) taken by an aerial photography device in real time, and outputs the corresponding orthoimages as well as ground reference point coordinates applied to the captured images with minimal time and system load. It is a system that outputs composite images from captured images.

As shown, the image processing system according to the present invention includes a ground control point DB (11) that stores information about the ground control point, and location information of the ground control point coordinate value in the image captured by the aerial photography device (30). An image DB (12) that links and stores images, an image output module (21) that outputs captured images stored in the image DB (12), and an image output module (21) that allows the operator to control the captured images output to the image output module (21). An image control module 22 that controls the output module 21, a relational expression calculation module 23 that calculates the captured image coordinate value from the ground reference point coordinate value using the relational expression between the captured image coordinate value and the ground reference point coordinate value, A distortion rate confirmation module 24 that calculates the distortion rate of the captured image, a coordinate value setting module 25 that links the ground reference point coordinate value corresponding to each location to the captured image, and GNSS (Global Navigation) the current location of the aircraft. Through the GNSS module (26) that measures with the Satellite System, the coordinate correction module (27) that checks the location of the ground reference point coordinate value linked to the captured image and corrects it when an error is confirmed, and the aerial photography device (30) It consists of an aerial photography guidance device 40 that is installed and matched to each of the photographing reference points so that the task of acquiring the photographed image can be carried out at a determined location based on the preset photographing reference point.

The ground control point DB 11 stores ground control point information for each specific point on the ground. In order to process internal and external expressions of a captured image, a reference point must be set on the captured image. The image processing system according to the present invention can proceed by matching the reference point to be captured in the captured image to the ground reference point stored in the ground reference point DB (11). For reference, ground reference point information is a coordinate value made up of GNSS coordinates of a specific point selected on the ground. In this embodiment, the ground control point DB 11 stores the ground control point coordinates of the ground point located in the captured image.

The image DB 12 stores a captured image of the ground captured by the aerial imaging device 30 and a ground reference point coordinate value linked to the captured image. The process and technical details of linking the ground control point to the captured image are described in detail below.

The image output module 21 is a typical display device that outputs captured images and orthoimages stored in the image DB 12, and may be a general monitor or a touch screen. In general, the image output module 21, such as a monitor or touch screen, uses a captured image coordinate system (AX) in which multiple 3). Therefore, when a specific point is selected on the captured image, the image output module 21 tracks and confirms the captured image coordinate value for the specific point within the corresponding screen.

The image control module 22 is an operating means for controlling the image output by the image output module 21, and generates control values according to the operator's manipulation and transmits them to the image output module 21. The image control module 22 may be implemented using touch screen technology, or a separate keyboard or joystick may be used.

The relational expression calculation module 23 uses the relational expression between the captured image coordinate value and the ground reference point coordinate value to calculate the captured image coordinate value from the ground reference point coordinate value presented by the distortion ratio confirmation module 24. The modified collinear condition described below can be applied to the above relational expression.

The distortion rate confirmation module 24 confirms the actual distortion state of the captured image by checking the position of the ground reference point applied to the captured image, calculates the distortion ratio, and confirms the image arrangement state of the captured image.

The coordinate value setting module 25 creates a corresponding ground reference point coordinate system based on the distortion rate calculated by the distortion rate confirmation module 24, and links the coordinate value of the captured image and the coordinate value of the ground reference point in the coordinate system. do.

The GNSS module (26) measures and confirms the current location of the aircraft using GNSS. Since the device for GNSS measurement is a known and common technology, description of the operating principle and configuration of the GNSS module 26 will be omitted.

The coordinate correction module 27 compares the coordinate information of the ground reference point coordinate system combined with the captured image with the actual coordinate information for a specific point captured in the captured image, and adjusts the ground reference point coordinate system to the actual coordinate information. A more detailed description of the coordinate correction module 27 will be provided while explaining the driving process of the image processing system according to this embodiment.

Figure 2 is a flow chart showing the process of generating a ground reference point coordinate system in a captured image performed in an image processing system according to an embodiment of the present invention, and Figure 3 is a distortion of a captured image in an image processing system according to an embodiment of the present invention. It is a diagram illustrating the point corresponding to the ground reference point coordinate value displayed in the captured image coordinate system to calculate the ratio. Figure 4 shows how to input the ground reference point in the captured image in the image processing system according to an embodiment of the present invention. It is a diagram illustrating the ground control point coordinate system for, and FIG. 5 shows the ground control point coordinate value for a specific point of the captured image selected by the operator in the image processing system according to an embodiment of the present invention displayed in the ground control point coordinate system of FIG. is a diagram illustrating, and Figure 6 is a diagram illustrating the state of checking the matching state between the reference point coordinate system and the captured image in the image processing system according to an embodiment of the present invention, and Figure 7 is an embodiment of the present invention. This diagram sequentially illustrates the modification of the ground reference point coordinate system in the following image processing system.

S10; Distortion ratio confirmation step

When the operator selects a specific ground object in the captured image being output to the image output module 21 and inputs the ground reference point coordinate value of the ground object, the distortion rate confirmation module 24 that receives the ground reference point coordinate value inputs the ground reference point coordinate value of the ground object. The reference point coordinate value is transmitted to the relational calculation module 23, and the relational expression calculation module 23 uses the relational expression between the captured image coordinate value and the ground reference point coordinate value to calculate the corresponding captured image coordinate value. Here, the above relational expression may be an example of a modified collinear conditional expression.

As shown in FIG. 3, the relational expression calculation module 23 inputs the ground reference point coordinate value input by the operator into the modified collinear condition equation to calculate the coordinate value of the corresponding captured image, and the distortion ratio confirmation module 24 calculates the coordinate value of the corresponding captured image by using the relational expression. The captured image coordinate value, which is the result received from the calculation module 23, is applied to the coordinate system (AX) of the captured image. In this embodiment, the first selection point (AP) is located at the captured image coordinate values (-6, -4) centered on the origin (O) as a result of calculation through the modified collinear condition equation, and the second selection point (BP) is located at the captured image coordinate value (6, 6) centered on the origin (O) as a result of calculation through the modified collinear condition formula, and the third selection point (CP) is located at the origin (O) as a result of calculation through the modified collinear condition formula. ) is located at the captured image coordinate values (8,-11).

Subsequently, the distortion ratio confirmation module 24 determines the first distance between the origin (O) and each selected point (AP, BP, CP) based on the captured image coordinate values of the confirmed selected points (AP, BP, CP). Calculate.

Subsequently, the distortion rate confirmation module 24 checks the ground reference point coordinates of the selected point (AP, BP, CP) entered by the operator and the ground reference point coordinates of the origin (O) measured by the GNSS module 26. So, based on this, the second distance between the origin (O) and each selected point (AP, BP, CP) is calculated.

As described above, the first distance is the distance between the selected points (AP, BP, CP) on the background of the captured image and the origin (O), and the second distance is the selected point (AP, BP, CP, It is the distance between CP) and the origin (O). Therefore, the second distance is the actual distance between the location of the origin (P) and the location of the selection point (AP, BP, CP), and the first distance is a distorted distance in which the distance change occurred due to unknown distortion of the corresponding shooting. . Here, the coordinate value of the origin (O) is a GNSS coordinate value confirmed by the GNSS module 26 and is the aircraft position at the time of capturing the image.

The distortion ratio confirmation module 24 checks the difference ratio by distance for the first distance difference compared to the second distance difference between points. In other words, the farther the selected point (AP, BP, CP) is from the origin (O), the greater the first distance difference compared to the second distance difference between points, and the first distance difference for each point according to the distance. The purpose is to check the distortion ratio, which is the increase or decrease rate of . For example, the first distance between the origin (O) and the fourth selection point is 10, the second distance is 300m, the first distance between the origin (O) and the fifth selection point is 21, the second distance is 600m, and the origin If the first distance between (O) and the 6th selection point is confirmed to be 33 and the second distance is 900m, the first distance is 10 (10 - 0), 11 (21 - 10), 12 (33 - 21), etc. for each point. There is a difference, and the second distance varies from point to point, such as 300 (300 - 0), 300 (600 - 300), and 300 (900 - 600). In the end, the distance difference ratio for the first distance compared to the second distance difference increases to 10%, and through this, it can be seen that the captured image is distorted at a distortion rate of 10% as the distance increases.

For reference, the image captured by the camera becomes more distorted the further away it is from the center of the image. Accordingly, the shape deformation and size increase of the photographed object become more severe as it moves to the outskirts of the photographed image. In the end, the farther out the captured image goes, the farther away it is from its actual location, and it is output distorted into a large shape.

S20; Ground reference point coordinate system creation stage

The coordinate value setting module 25 generates a ground reference point coordinate system (BX) dedicated to the captured image according to the distortion ratio confirmed by the distortion ratio confirmation module 24. To this end, the coordinate value setting module 25 checks the direction of the captured image, determines the axial direction of the ground reference point coordinate system (BX), and determines the interval between ground reference points to be applied to the captured image.

Subsequently, the coordinate value setting module 25 inputs ground reference points in the latitude direction and longitude direction located in the above intervals with the origin O as the center, and ground reference points along the latitude direction and longitude direction at the previously confirmed distortion rate. By setting the spacing to be adjusted, as shown in Figures 4 and 5, a ground control point coordinate system (BX) consisting of a plurality of latitude and longitude axes connecting the ground control points is arranged in a grid form is completed.

In the ground reference point coordinate system (BX) shown in this embodiment, the distance between ground reference points increases as the distance from the origin (O) increases by the distortion rate confirmed by the distortion rate confirmation module 24.

Subsequently, as shown in FIG. 4, the coordinate value setting module 25 links the ground reference point coordinate value and the captured image coordinate value through linkage between the ground reference point coordinate system (BX) and the captured image coordinate system (AX), thereby arbitrarily It is possible to immediately check which coordinate value of the captured image the ground reference point is located in. Here, the captured image coordinate system (AX) is a known and common technology that is naturally created to determine the output point of the image when the image output module 21 outputs the captured image, and is an image processing system according to the present invention. applies and utilizes the above technology.

Ultimately, since the ground reference point coordinate system (BX) generated by the coordinate value setting module 25 provides an orthophoto processing effect in conjunction with the captured image coordinate system (AX), the operator can select a point (TP) of the captured image or When the ground reference point coordinates of a point (TP) are input, the captured image coordinate system (AX) associated with the point (TP) is immediately confirmed and output.

Therefore, in order to process orthoimages of captured images, the ground control points in the captured images can be corrected to correspond to the coordinates of the captured images without having to calculate them individually through complex relational expressions, etc., and through this, the captured images captured during aerial photography can be processed in real time. It can be processed quickly.

S25; Ground reference point coordinate system correction step

The coordinate correction module 27 checks the ground reference point coordinate system (BX) applied to the captured image and compares it with the ground reference point coordinate value of the ground object photographed in the captured image to determine whether there is an error in the ground reference point coordinate system (BX) applied to the captured image. Check .

To explain this in more detail, the coordinate correction module 27 selects the ground object (ST) to be confirmed and provides the first ground reference point coordinate value of the ground object (ST) to be confirmed based on the ground reference point coordinate system (BX). Check the coordinate value (OP1). For reference, the first coordinate value (OP1) is the coordinate value of a point in the ground reference point coordinate system (BX) where the image of the ground object (ST) to be confirmed overlaps.

Subsequently, the coordinate correction module 27 searches the ground reference point DB 11 for the actual ground reference point coordinate value of the ground object (ST) to be confirmed, and applies the searched ground reference point coordinate value to the ground reference point coordinate system (BX) to correct it. Check the target coordinate value (TP2).

Here, since there is a difference in the position of the first coordinate value (OP1) where the ground object (ST) to be confirmed is located and the coordinate value to be corrected (TP2), the coordinate correction module 27 makes an error in the corresponding ground reference point coordinate system (BX). Confirm that there is. In order to correct this error, the coordinate correction module 27, as shown in FIG. 7, sets the 'longitude axis' of the coordinate value to be corrected (TP2) that has a difference in longitude position from the first coordinate value (OP1) to the first coordinate value (OP1). Move it to the ‘longitude axis’ where the coordinate value (OP1) is located. In addition, the coordinate correction module 27 moves other 'longitude axes' configured in the ground reference point coordinate system (BX) to be adjacent to the 'longitude axis' according to the distortion rate applied to the ground reference point coordinate system (BX) (FIG. 7 ( b) Reference), ensure that the ground control point coordinate value of the ground object (ST) to be confirmed is accurately displayed at the corresponding point in the corrected ground control point coordinate system.

In this embodiment, the coordinate value to be modified (TP2) and the first coordinate value (OP1) having only a difference in longitude are exemplified, but in addition, there may be only a latitude difference (OP2), or there may be a difference in both longitude and latitude ( OP3).

FIG. 8 is a diagram sequentially illustrating the orthoprocessing process of a captured image performed in an image processing system according to an embodiment of the present invention, and FIG. 9 is a view showing a photograph formed when the image processing system is driven according to an embodiment of the present invention. It is a diagram illustrating geometry, and FIG. 10 is a diagram showing the relationship between the coordinate value of a captured image formed when driving an image processing system according to an embodiment of the present invention and the shooting direction vector u, and FIG. 11 is an embodiment of the present invention. This is a graph showing how distortion of a captured image is corrected in an image processing system according to an example.

S30; Reference point selection stage

During aerial surveying, the imaging device 30 mounted on the aircraft measures the ground in real time and stores it in the image DB 12, and the image output module 21 outputs a captured image of the orthocorrection target area. In addition, the GNSS module 26 measures the current shooting position of the aircraft in real time and links it to the captured image.

Next, the operator selects a reference point from the captured image output to the image output module 21, and the relational expression calculation module 23 receives and confirms this input.

Aerial images are usually saved as files after going through a scanning process. Since the images saved as files through the scanning process do not have ground coordinate values, they are easily identifiable points such as road intersections, bridges, etc. The peaks of waterways or road bends and mountain peaks are determined as reference point coordinates (xa,ya).

For reference, the operator operates the image control module 22 to select the reference point within the captured image being output to the image output module 21, and the relational expression calculation module 23 receives and confirms the reference point.

S40; Ground control point search stage

The operator selects a reference point in the captured image, searches the ground reference point DB (11) for (Px, Py, Pz), which is the ground reference point coordinate value corresponding to the selected point, and enters the corresponding input field provided by the aerial surveying system according to the present invention. Enter the ground reference point (not shown).

Since the aerial survey process aims to update the background image of the existing digital map, the ground control point corresponding to the reference point selected by the operator in the captured image can be immediately confirmed.

S50; First operation step

The step of determining the six facial expression elements can be said to be the step of performing the internal and external facial expressions of the captured image.

Internal expression corrects the distortion inherent in the aerial photo itself.

For reference, images taken of the ground from an aircraft are distorted by various factors such as camera characteristics, atmospheric refraction, and the curvature of the Earth. Due to this distortion, the point that should have the corrected coordinate value of (xa', ya') when there is no distortion on the captured image has the coordinate value of (xa, ya) due to the distortion. In this way, internal facial expression is rearranged from each coordinate value (xa, ya) of the captured image with distortion into new corrected coordinate values (xa', ya') with the distortion corrected.

Meanwhile, the external expression calculates the 6 expression elements (ω, Φ, ψ, Sx, Sy. Sz), which are unknown unknowns during aerial photography, from the ground reference point, and calculates the reference point coordinate value of the captured image whose distortion has been corrected through the internal expression. Establish the relationship between (xa', ya') and the corresponding ground reference point coordinate values (Px, Py, Pz).

In the present invention, there is no need to separately perform internal facial expression to produce an orthoimage with correction of distortion. Therefore, a new modified collinear condition equation including the internal expression is established and the six expression elements are calculated from the modified collinear condition equation.

For reference, orientation elements are elements that determine the position and posture of the camera required for facial expressions in aerial photos, and are composed of the components of the baseline and the angle of rotation around the baseline.

As can be seen in Figure 9, the relationship between the vector representing the position of the aircraft at the center of the Earth, the vector representing the position of the ground reference point captured from the center of the Earth, and the vector representing the shooting direction can be expressed as [Equation 1] below: there is.

[Equation 1]

Here μ is an arbitrary scale variable. In [Equation 1] above, and is expressed in an earth-centered coordinate system, is expressed by a photographic coordinate system as shown in Figure 10. In order to fit vectors with different coordinate systems into the same coordinate system, rotation matrices in the x, y, and z directions must be defined, and this rotation matrix M is as follows.

[Equation 2]

Here, ω, Φ, and Ψ represent rotation angles in the x, y, and z directions.

also, As shown in FIG. 10, can be determined by [Equation 3] by (xa,ya), which is the coordinate value of the captured image, and the focal length f.

[Equation 3]

However, when taking pictures, distortion caused by the lens, distortion due to the curvature of the Earth, and distortion in the atmosphere occurs.

This amount of distortion (δr) is the distance from the center of the captured image ( ), and [Equation 3] can be rewritten as follows.

[Equation 4]

Here, the amount of distortion δr is defined as follows.

[Equation 5]

Here, △r1 represents the distortion of the lens, △r2 represents the distortion due to the curvature of the Earth, and △r3 represents the distortion due to the refraction of the atmosphere. These values are values defined by the height of the aircraft and the characteristics of the photographing device 30 (refractive index of the lens, focal length, etc.), and since the solution can generally be easily obtained in photogrammetry, a detailed explanation thereof is omitted. do.

[Equation 1] can be expressed as follows from [Equations 2 and 4].

[Equation 6]

Here, m11 to m33 are elements of M.

[Equation 6] is obtained from the imaging geometry of the aircraft, and since μ is an unknown unknown, μ can be expressed as follows by canceling μ.

[Equation 7]

[Equation 8]

[Equation 7] and [Equation 8], which are the relational expressions calculated by the relational expression calculation module 23 through the above-described procedure, are distortion-corrected coordinate values (xa', ya') = (xa(1-δr), It is defined as a modified collinear condition equation as a relational expression expressing the relationship between ya(1-δr)) and the coordinate values (Px, Py, Pz) of the ground reference point.

Using the modified collinear condition equation [Equations 7 and 8], internal expression for correcting the distortion of the captured image and external expression for applying the ground reference point coordinate value to the reference point coordinate value of the captured image can be performed simultaneously.

By substituting the coordinate values (xa, ya) of the captured image, the coordinate values of the corresponding ground reference point (Px, Py, Pz), and the amount of distortion obtained from the coordinate values (xa, ya) of the captured image into the modified collinear condition equation, , six facial expression elements (ω, Φ, ψ, Sx, Sy. Sz) are calculated.

Since there are 6 unknowns in the 6 facial expression elements, 6 equations are needed. Therefore, the coordinate values (xa, ya) of the captured image and the coordinate values (Px, Py, Pz) of the corresponding ground reference point need to be at least 3 points. Typically, 5 or 6 points are used as the coordinate value. The process of calculating the six facial expression elements uses the method used in the bundle block adjustment method commonly applied in aerial surveying.

For reference, the luminous flux adjustment method is a representative georeferencing method that determines the external expression elements of multiple overlapping images.

The first operation step (S50) of producing the orthoimage is to convert an aerial photo by central projection into an orthoimage by orthogonal projection. In other words, the deviation caused by central projection is removed. The production of orthophotos is closely related to external facial expressions. This is because the production of an orthophoto image involves transferring the coordinate values (xa, ya) of the centrally projected captured image to the coordinate values (xb, yb) of the orthoprojected image. In other words, the coordinate values (xa, ya) of each captured image are obtained from the coordinate values (Px, Py, Pz) of the ground reference point using the modified collinear condition, and the coordinate values (xa, ya) of each captured image are An orthoimage is produced by extracting the brightness value (Brightness Value or Digital Number) and assigning the extracted brightness value to each orthoimage coordinate value (xb, yb). Since the captured image scanned and stored in the image DB 12 has coordinate values (xa, ya) and corresponding brightness values, the coordinate values (xa, ya) of the captured image corresponding to the orthoimage coordinate values (xb, yb) If ya) is obtained, an orthophoto can be easily produced.

S60; Second operation stage

When the relational calculation module 23 calculates the 6 facial expression elements through the first calculation step (S30), the unknowns in the modified collinear condition equation [Equations 7 and 8] are taken with the ground reference point coordinate values (Px, Py, Pz). Image coordinate values (xa, ya).

Here, the coordinate value of the ground reference point is confirmed through a search of the ground reference point DB (11), which is digital elevation data. Therefore, the actual unknowns become the coordinate values (xa, ya) of the captured image. However, (1-δr) on the left side of the modified collinear condition equation is a function related to r (distance from the photo origin) (see [Equation 5]), and r is also a function related to xa and ya. Therefore, the solution cannot be found using simple methods.

Therefore, in order to simplify the calculation process, the relational expression calculation module 23 of the present invention uses the r-f(r) table.

If both sides of [Equation 7] and [Equation 8] are squared and added, the following equation is derived.

[Equation 9]

[Equation 10]

Here, U1, U2, and U3 are defined as follows, and f(r) is the distance from the origin in the photo in which internal expression has been performed and distortion has been corrected ( ).

[Equation 11]

[Equation 12]

[Equation 13]

In [Equation 9] above, As mentioned above, since is a value defined by the characteristics of the camera and the altitude at the time of shooting, it is possible to easily calculate the value of f(r) for r for the captured image, which is calculated as rf as shown in [Figure 11]. (r) Can be converted into a table. For example, regarding the method of calculating r from f(r) with reference to [FIG. 11], if ground reference point coordinate values (Px, Py, Pz) are given, using the ground point, [Equation 11, 12 and 13], calculate U1(Px, Py, Pz), U2(Px, Py, Pz), and U3(Px, Py, Pz), and calculate f(r) using [Equation 9] . As shown in [Figure 11], if f(r)=120, find the value of r=122.037 using the table of r and f(r). Using the above method, f(r) can be obtained for all desired ground points and the r value corresponding to f(r) can be easily found.

Additionally, since f(r)/r=1-δr, [Equation 7] and [Equation 8] can be re-expressed as follows.

[Equation 14]

[Equation 15]

[Equation 14] and [Equation 15] are substantially the same as [Equation 7] and [Equation 8].

Therefore, when the ground reference point coordinates (Px, Py, Pz) are entered through digital elevation data, the f(r) value is determined, the r value is determined from f(r) determined through the r-f(r) table, and the corrected collinear The coordinate values (xa, ya) of the distorted aerial image are easily and quickly calculated from the conditional expression ([Equation 7, 8] or [Equation 14, 15]).

When the coordinate values (xa, ya) of the aerial image are extracted in this way, the brightness value contained in the coordinate values (xa, ya) of the captured image is assigned to the coordinate values (xb, yb) of the orthophoto image. This process is performed for all coordinates, ultimately obtaining an orthoimage of the desired area. For reference, it can be said that the captured image coordinate values (xa, ya) of the orthoimage coordinate values (xb, yb) correspond to the ground reference point coordinate values (Px, Py) of digital elevation data.

Figure 12 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention, and Figure 13 is a diagram illustrating a state in which an aerial photography guidance device is installed in an image processing system according to an embodiment of the present invention. This diagram illustrates the state in which the image acquisition location is determined.

The aerial photography guidance device 40 functions to allow the acquisition of captured images through the aerial photography device 30 to proceed at a designated location based on a preset filming reference point. Accordingly, the aerial photography guidance device 40 It is installed and matched for each shooting reference point.

When acquiring a photographed image, the aerial photographing device 30 performs photographing at a predetermined altitude under the condition that all position marking blocks 41 of the aerial photographing guidance device 40 are within the photographing range.

Figure 14 is a diagram showing the overall appearance of an aerial photography device according to an embodiment of the present invention, and Figure 15 is a bottom view showing an aerial photography device according to an embodiment of the present invention as seen from below. 16 is a diagram showing a side view of the aerial imaging device according to an embodiment of the present invention, Figure 17 is a diagram showing the operation of the rotation drive unit according to an embodiment of the present invention, and Figure 18 is a diagram showing the operation of the rotation drive unit according to an embodiment of the present invention. This is a diagram showing the operation of the second base plate moved in the longitudinal direction according to an embodiment of the present invention.

As shown, the aerial imaging device 30 is coupled to the rotation drive unit 600, which is rotatably installed on the bottom of the aircraft 100, and the lower part of the rotation drive unit 600, and is movable in the longitudinal direction. A pair of moving driving parts 500, a pair of lifting driving parts 400 coupled to the lower part of the pair of moving driving parts 500, installed in the lower part of the pair of lifting driving parts 400 and moving clockwise or counterclockwise. It includes a pair of rotatable horizontal rotation driving units 300 and a pair of photographing units 200 that are coupled to the lower part of the horizontal rotation driving units 300 and acquire photographed images.

The pair of photographing units 200 includes an oval-shaped photographing support body 210, a photographing module 220 provided on one side of the photographing support body 210 and rotated with the photographing support body 210, and a photographing module ( It includes a horizontal detection sensor 230 provided in 220 to detect the horizontal of the photographing module 220, and a plurality of photographing rotation cylinders 240 that are coupled to the photographing support body 210 and rotate the photographing support body 210. .

A plurality of photographing rotation cylinders 240 are provided to surround the photographing support body 210 and are operated based on a signal detected by the horizontal detection sensor 230 to maintain the horizontality of the photographing module 220.

For example, when the photographing module 220 is tilted, the horizontal sensor 230 detects this and sends it to the control unit (not shown), and the control unit selects a photographing rotation from among the plurality of photographing rotation cylinders 240 based on this signal. The horizontality of the photographing module 220 can be controlled by operating the cylinder 240 to raise or lower a specific area of the photographing support body 210.

In addition, the present invention raises the photographing rotation cylinder 240 located in the front among the plurality of photographing rotation cylinders 240 so that the photographing module 220 collects the upper image of the feature, or one of the plurality of photographing rotation cylinders 240 The photographing rotation cylinder 240 located in the front can be lowered so that the photographing module 220 can collect images of the lower side of the feature.

That is, the present invention is provided with a plurality of photographing rotation cylinders 240 to surround the photographing support body 210 formed in an oval shape, so that photographing images in a desired direction can be collected by the user. In some cases, a plurality of photographing rotation cylinders are used. The photographing module 220 may be rolled by operating the photographing rotation cylinder 240 located in the center of (240).

In this embodiment, the photographing unit 200 can be rotated clockwise or counterclockwise by a pair of horizontal rotation drives 300, and can be raised or lowered by a pair of lifting drives 400, It can be moved in the longitudinal direction of the aircraft 100 by a pair of moving drive units 500, and can be rotated in a direction perpendicular to the elevation direction by the rotation drive unit 600, significantly improving the convenience of image collection. can do.

The horizontal rotation drive unit 300 is coupled to a pair of photographing units 200 and can horizontally rotate the imaging units 200 clockwise or counterclockwise.

In this embodiment, the horizontal rotation drive unit 300 is connected to the upper side of a plurality of photographing rotation cylinders 240, and is geared with the drive plate 310 provided with the first rotation gear 312 and the first rotation gear 312. It includes a drive motor 320 that is provided with a second rotation gear 321 that rotates the drive plate 310 clockwise or counterclockwise.

In this embodiment, a drive shaft 311 is provided on the upper surface of the drive plate 310, and the upper part of the drive shaft 311 may be rotatably coupled to the first base plate 410.

The pair of lifting parts 400 serves to raise and lower the pair of horizontal rotation parts 300 as a whole and ultimately lifts the imaging unit 200 as a whole. The imaging unit 200 can be entirely lifted up and down by the elevation drive unit 400 to minimize the influence of obstacles.

In this embodiment, the pair of lifting units 400 are hinged to the first base plate 410, which is coupled to rotate the drive shaft 311 provided on the drive plate 310, and to the upper surface of the first base plate 410. It includes a plurality of elevating cylinders 420 that elevate the first base plate 410.

The pair of moving driving units 500 are coupled to the pair of lifting driving units 400 and serve to move the lifting driving units 400 as a whole in the longitudinal direction of the aircraft 100.

In this embodiment, the pair of moving driving units 500 are coupled to the second base plate 510, where the upper portions of the plurality of lifting cylinders 420 are coupled, and to the upper part of the second base plate 510 to form a second base plate ( It includes a movement guide 520 that moves together with 510).

In this embodiment, the movement guide 520 may be moved while being supported on the first guide rail 634 provided on the lower surface of the first rotating body 632. Additionally, in this embodiment, the movement guide 520 may be moved while being supported by the second guide rail 644 provided on the lower surface of the second rotating body 642.

One side of the rotation drive unit 600 is coupled to the aircraft 100, and the other side is coupled to a pair of moving driving units 500, so that the pair of moving driving units 500 can be rotated in a direction perpendicular to the lifting direction. there is.

In this embodiment, the rotary drive unit 600 is a rotary drive cylinder 610 coupled to the bottom of the aircraft 100, and is disposed at the bottom of the aircraft 100 and coupled to the rotary drive cylinder 610 to form a rotary drive cylinder 610. The connector arm 620 moves in the direction of ), is connected to the connector arm 620 and rotates by driving the rotary drive cylinder 610, and one of the pair of movement drive units 500 is coupled to the connector arm 620. The first rotating part 630, which is connected to the connector arm 620 so as to be spaced apart from the first rotating part 630, is rotated by driving the rotary driving cylinder 610, and moves the remaining one of the pair of moving driving parts 500. It includes a second rotating part 640 to which the driving part 500 is coupled.

In this embodiment, the first rotating part 630 may be placed on the right side of the aircraft 100 based on the rotary drive cylinder 610, and the second rotating part 640 may be placed on the right side of the aircraft 100 based on the rotary drive cylinder 610. 100) can be placed on the left.

In addition, in this embodiment, when the rotation driving cylinder 610 is operated, the first rotating part 630 and the second rotating part 640 can be arranged at intervals of 180 degrees, and when the rotating driving cylinder 610 is operated again, The first rotating part 630 and the second rotating part 640 may be arranged in parallel. The parallel arrangement of the first rotating part 630 and the second rotating part 640 of this embodiment can be applied while the aircraft 100 is in operation.

In this embodiment, the first rotating part 630 is coupled to the first connection arm 631, one side of which is rotatably coupled to the connector arm 620, and the other side of the first connection arm 631, and the rotation driving cylinder 610. The first rotating body 632 is rotated by the drive, one side is coupled to the aircraft 100 and the other side is coupled to the first rotating body 632 to support the rotation of the first rotating body 632. It includes a rotation support shaft 633 and a first guide rail 634 provided on the lower surface of the first rotation body 632 to guide the movement of one movement driving unit 500.

In this embodiment, the second rotating part 640 is rotatably coupled to the connector arm 620 on one side, and the second connecting arm 641 is spaced apart from the first connecting arm 631. A second rotary body 642 is coupled to the other side and rotated by driving the rotary drive cylinder 610, one side is coupled to the aircraft 100, and the other side is coupled to the second rotary body 642 to perform second rotation. A second rotation support shaft 643 that supports the rotation of the body 642, and a second guide rail 644 provided on the lower surface of the second rotation body 642 to guide the movement of the remaining movement driving unit 500. Includes.

Hereinafter, the operation of the rotation drive unit 600 will be described based on the first rotation unit 630.

First, the cylinder rod of the rotary drive cylinder 610 is pulled out and the connector arm 620 is pushed out. When the connector arm 620 is pushed out, the first connection arm 631 is also moved along with the connector arm 620, and at this time, the first rotation body 632 is rotated about the first rotation support axis 633 as a reference axis. can be moved The second rotating part 640 may be rotated and moved in the opposite direction to the first rotating part 630. Accordingly, the first rotating part 630 and the second rotating part 640 are arranged in parallel, and the photographing part 200 collects the front image of the aircraft 100.

When the cylinder rod of the rotary drive cylinder 610 is received, the connector arm 620 moves forward and the first connection arm 631 also moves together with the connector arm 620. At this time, the first rotation body 632 may be rotated and moved in the opposite direction to that described above with the first rotation support axis 633 as the reference axis. The second rotating part 640 may be rotated and moved in the opposite direction to the first rotating part 630. Accordingly, the first rotating unit 630 and the second rotating unit 640 are arranged at intervals of 180 degrees, and the photographing unit 200 collects lateral images of the aircraft 100.

That is, the present invention can change the arrangement of the first rotating part 630 and the second rotating part 640 using the rotation drive unit 600, so that the front image of the aircraft 100 and Lateral images can be freely collected.

In addition, the present invention uses the moving driving unit 500 to move the first rotating unit 630 and the second rotating unit 640 at 180-degree intervals. Since the distance can be adjusted and the horizontal angle of the photographing unit 200 can be adjusted using the horizontal rotation drive unit 300, terrain features can be photographed very precisely.

In addition, the present invention can organically operate the horizontal rotation driving unit 300, the moving driving unit 500, and the rotation driving unit 600 through a control unit (not shown), so that the photographing unit 200 is not missing with just one movement. You can collect images without any parts.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is commonly known in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be clear to those who have the knowledge of.

30: Aerial photography device 40: Aerial photography guidance device 41: Position indication block
42: main control unit 43: main communication module 100: aircraft
200: Filming unit 210: Filming support body 220: Filming module
230: Horizontal detection sensor 240: Shooting rotation cylinder 300: Horizontal rotation drive unit
310: Drive plate 311: Drive shaft 312: First rotation gear
320: Drive motor 321: Second rotation gear 400: Elevating drive unit
410: First base plate 420: Elevating cylinder 500: Moving drive unit
510: Second base plate 520: Movement guide 600: Rotation drive unit
610: Rotation driving cylinder 620: Connector arm 630: First rotating part
631: First connection arm 632: First rotation body 633: First rotation support axis
634: 1st guide rail 640: 2nd rotating part 641: 2nd connection arm
642: Second rotation body 643: Second rotation support axis 644: Second guide rail

Claims (1)

An image output module that outputs a captured image while operating according to control values, and operates by applying a captured image coordinate system in which multiple X and Y axes are arranged in a grid so that the coordinates of each point in the captured image can be checked;
An image control module that generates control values for controlling the operation of the image output module and transmits them to the image output module;
GNSS module that determines the aircraft's current position in GNSS coordinates;
A relational calculation module that calculates ground reference point coordinates with captured image coordinates;
The input coordinate values of two or more ground reference points are transmitted to the relational calculation module to be calculated as the captured image coordinate value, the location of the captured image coordinate value received from the relational calculation module is checked based on the captured image coordinate system, and the origin of the captured image coordinate system is confirmed. The first distance, which is the distance between the coordinate values of the captured image, is calculated for each point, and the second distance, which is the distance between the ground reference point coordinate value of the origin confirmed in the GNSS module and the input ground reference point coordinate value, is calculated for each point. The distance difference between the confirmed second distance and the confirmed first distance for each point is checked for each point based on the second distance to check whether the first distance difference is greater than the second distance difference for each point, and the first distance difference for each point is checked. A distortion rate confirmation module that checks the distortion rate, which is the increase or decrease rate of;
Set the ground control point along the latitude and longitude directions centered on the origin, check the interval between ground control points that changes with the distortion ratio, set the location of the ground control point in the captured image, and set multiple latitude axes and longitude lines connecting the set ground control points. A coordinate value setting module that generates a ground reference point coordinate system in which axes are arranged in a grid, and links the ground reference point coordinate system and the captured image coordinate system so that the captured image coordinate values corresponding to the ground reference point coordinate values are linked; and
Select the ground object to be confirmed in the captured image, check the first coordinate value of the ground control point coordinate system where the image of the object to be confirmed overlaps, search the ground control point DB for the actual ground control point coordinate value of the ground object to be confirmed, and apply it to the ground control point coordinate system. Check the coordinate value to be modified, move the longitude axis and latitude axis corresponding to the coordinate value to be modified to become the longitude axis and latitude axis corresponding to the first coordinate value, and move the neighboring longitude axis and latitude axis based on the moved longitude axis and latitude axis. A coordinate correction module that applies to captured images by modifying different longitude and latitude axes to be arranged according to the distortion ratio; Including,
An aerial photography device that transmits captured images to the image output module; and an aerial photography guidance device installed at the filming reference point so that the task of acquiring the photographed image through the aerial photography device can be carried out at a determined location based on the preset filming reference point; It further includes,
The aerial imaging device,
A rotation drive unit rotatably installed on the bottom of the aircraft; A pair of moving driving units coupled to the lower part of the rotation driving unit and capable of moving in the longitudinal direction; A pair of lifting actuators coupled to the lower part of the pair of moving actuators; A pair of horizontal rotation drives installed at the lower part of the pair of lifting drives and capable of rotating clockwise or counterclockwise; and a pair of photographing units coupled to the lower part of the horizontal rotation drive unit and acquiring photographed images; Includes,
The filming department,
A filming support body provided in an oval shape; A photographing module provided on one side of the photographing support body and rotated together with the photographing support body; A horizontal detection sensor provided in the photographing module to detect the horizontal of the photographing module; And a plurality of photographing rotation cylinders coupled to the photographing support body to rotate the photographing support body; Including,
The horizontal rotation drive unit,
A driving plate coupled to the upper portions of a plurality of photographing rotation cylinders and equipped with a first rotation gear; and a drive motor including a second rotation gear engaged with the first rotation gear and rotating the drive plate clockwise or counterclockwise; Includes,
The elevator shaft section,
A first base plate coupled to rotate the drive shaft provided on the drive plate; and a plurality of lifting cylinders that are hinged to the upper surface of the first base plate and lift the first base plate. Including,
The moving drive unit,
a second base plate to which upper portions of a plurality of lifting cylinders are coupled; and a movement guide coupled to the upper part of the second base plate and moving together with the second base plate; Includes,
The rotation drive unit is,
A rotary drive cylinder coupled to the bottom of the aircraft; a connector arm disposed at the bottom of the aircraft, coupled to the rotary drive cylinder, and moved in the direction of the rotary drive cylinder; A first rotating part connected to the connector arm and rotated by the driving of the rotary driving cylinder, and to which one moving driving part of the pair of moving driving parts is coupled; and a second rotating part connected to the connector arm so as to be spaced apart from the first rotating part, rotated by the driving of the rotary driving cylinder, and coupled to the other moving driving part of the pair of moving driving parts; Including,
The first rotating part,
a first connection arm whose one side is rotatably coupled to the connector arm; a first rotary body coupled to the other side of the first connection arm and rotated by driving a rotary drive cylinder; a first rotation support shaft, one side of which is coupled to the aircraft and the other side of which is coupled to the first rotation body to support the rotation of the first rotation body; and a first guide rail provided on the lower surface of the first rotating body to guide the movement of one moving driving unit; Includes,
The second rotating part,
a second connection arm whose one side is rotatably coupled to the connector arm and which is spaced apart from the first connection arm; a second rotary body coupled to the other side of the second connection arm and rotated by driving a rotary drive cylinder; a second rotation support shaft, where one side is coupled to the aircraft and the other side is coupled to the second rotation body to support the rotation of the second rotation body; and a second guide rail provided on the lower surface of the second rotating body to guide the movement of the remaining moving drive unit; An image processing system that can correct location information by combining it with a captured image, comprising:

Images