KR20130055447A - Device and method of generating mosaic images - Google Patents

Abstract

PURPOSE: A mosaic image generation device and method are provided to obtain a position, movement speed, and a posture of a camera and to obtain a subject coordinate, thereby arranging static images by using the subject coordinate. CONSTITUTION: An image information obtainment unit(10) obtains a plurality of static images and photographing time from image information. A navigation information obtainment unit(20) measures navigation information of a camera corresponding to time flow. A coordinate conversion unit(40) obtains a subject coordinate corresponding to an image coordinate of a static image. An image display unit(50) arranges the static images by using the subject coordinate. [Reference numerals] (10) Image information obtainment unit; (20) Navigation information obtainment unit; (30) Navigation information synchronization unit; (40) Coordinate conversion unit; (50) Image display unit

Description

Device and method for generating mosaic images

The present invention relates to a mosaic image generating apparatus and method, and more particularly, to a mosaic image generating apparatus and method capable of generating an accurate mosaic image in real time in mobile photographing using a moving object such as an aircraft.

The mosaic image refers to one continuous image that is synthesized by connecting a plurality of still images obtained by photographing a part of a subject to each other, and represents the entire subject. The plurality of still images are extracted from a video photographed by a video camera or photographed by a digital camera. Such a mosaic image generation method is widely used because the viewing angle that the camera can hold at a time is limited.

The conventional mosaic image generating method may be divided into a pixel-based method and a feature-based method according to a method of connecting the still images to each other.

The pixel-based method is a method of iteratively finding a position where the connection error is minimized with respect to corresponding pixels existing in two still images to be connected to each other. Although accurate, the computational complexity is considerably high. When the degree of redundancy is low, there is a problem that the mosaic performance is sharply degraded.

The feature-based method extracts a feature point from a subject and sets a corresponding relationship through the feature point to analyze the position and movement of the camera from the photographed image and generate a three-dimensional model of the scene. As a method of constructing a mosaic, it is very difficult to produce a mosaic when the feature point is occluded by an object in the target scene (occlusion), when the feature point is out of the image boundary, or when the feature point is small. If there are no distinctly common points or many similar features, there is a high possibility of synthesizing the wrong shape image.

On the other hand, the conventional mosaic image generation method, there is a problem that the image processing can not be performed in real time because a large amount of calculation required for image processing.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object thereof is to provide a mosaic image generating apparatus and method having an improved structure so as to generate an accurate mosaic image in real time in mobile photographing using a moving object such as an aircraft. .

In order to achieve the above object, the apparatus for generating a mosaic image according to the present invention is a device for generating a mosaic image by connecting a plurality of still images obtained by photographing a subject by a moving camera, wherein the image is photographed by the camera. An image information acquisition unit for acquiring the plurality of still images and a shooting time at which each of the still images is captured from the information; A navigation information acquisition unit for measuring and obtaining navigation information such as the position, movement speed, and attitude of the camera over time; A coordinate converting unit for obtaining a subject coordinate formed on the subject, corresponding to a photo coordinate which is a specific coordinate on the still image by using a collinear condition equation; And an image display unit for generating and displaying the mosaic image by arranging the still images using the subject coordinates.

Here, it is preferable to include a navigation information synchronization unit for acquiring the navigation information for each shooting time of the still image by synchronizing the still image with the navigation information.

The coordinate converting unit may convert photo coordinates of four corners on the still image into subject coordinates.

Here, it is preferable to operate in real time by processing the still image and the navigation information within a predetermined time.

Here, the navigation information acquisition unit preferably includes an inertial navigation system.

Here, the navigation information acquisition unit preferably includes a compass or satellite navigation system so as to reduce the integral error of the inertial navigation system.

Here, the image information acquisition unit preferably acquires the still images so that the shape of the subject is represented continuously.

Here, the image information acquisition unit may adjust the sampling period and resolution of the obtained still image.

In order to achieve the above object, a mosaic image generating method according to the present invention is a method of generating a mosaic image by connecting a plurality of still images obtained by photographing a subject by a moving camera, the image information photographed by the camera An image information obtaining step of obtaining from the plurality of still images and a photographing time at which each of the still images is captured; A navigation information acquisition step of measuring and obtaining navigation information such as the position, movement speed, and attitude of the camera over time; A coordinate conversion step of acquiring a subject coordinate formed on the subject, corresponding to a photo coordinate which is a specific coordinate on the still image using a collinear condition equation; And an image displaying step of generating and displaying the mosaic image by arranging the still images using the subject coordinates.

In this case, it is preferable to include a navigation information synchronization step of acquiring the navigation information for each shooting time of the still image by synchronizing the still image with the navigation information.

Here, in the coordinate conversion step, it is preferable that the photo coordinates of the four corners on the still image are converted into the subject coordinates.

Here, the steps are preferably processed in real time within a predetermined time.

In the obtaining of the image information, it is preferable that the still images are obtained so that the shape of the subject is continuously expressed without interruption.

According to the present invention, a navigation information acquisition unit for acquiring a position, a moving speed, a posture, and the like of the camera, and a subject coordinate formed on the subject corresponding to a photo coordinate, which is a specific coordinate on the still image, using a collinear conditional expression. By providing a coordinate converting unit for acquiring an image and an image display unit for arranging the still images using the subject coordinates, an accurate mosaic image can be generated in real time in mobile shooting using a moving object such as an aircraft.

1 is a block diagram of a mosaic image generating apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart for explaining an example of a method of generating a mosaic image by using the mosaic image generating apparatus of FIG. 1.
3 is a diagram illustrating a relationship between a photo coordinate which is a specific coordinate on a still image and a subject coordinate formed on the subject corresponding to the photo coordinate.
4 is a view showing the ground to shoot in the aircraft in flight.
FIG. 5 is a diagram illustrating a photographing state in which the ground, which is the subject, is divided into three still images partially overlapping each other.
FIG. 6 is a diagram illustrating a state of generating mosaic images continuously expressed by seamlessly arranging three still images photographed in FIG. 5 using object coordinates.
FIG. 7 is a diagram illustrating a state in which the photographic surface of the subject is photographed by being divided into three still images that do not overlap each other.
FIG. 8 is a diagram illustrating a state in which three still images photographed in FIG. 7 are arranged by using object coordinates to generate a mosaic image which is broken but maintains continuity.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a configuration of a mosaic image generating apparatus according to an embodiment of the present invention, and FIG. 2 is a flowchart for explaining an example of a method of generating a mosaic image using the mosaic image generating apparatus illustrated in FIG. 1. 3 is a diagram illustrating a relationship between a photo coordinate which is a specific coordinate on a still image and a subject coordinate formed on the subject corresponding to the photo coordinate, and FIG. 4 is a diagram illustrating a ground to be photographed by an aircraft in flight.

1 to 4, a mosaic image generating apparatus 100 according to an exemplary embodiment of the present invention may include a plurality of still images P1 obtained by photographing a subject M by a moving camera (not shown). , P2, P3, ..Pn ...) to generate a mosaic image, comprising: an image information acquisition unit 10, navigation information acquisition unit 20, navigation information synchronization unit 30, The coordinate conversion unit 40 and the image display unit 50 are included. Hereinafter, it will be described on the premise of aerial photographing the ground (M) with a road or paddy field while flying by using the aircraft.

The video information acquisition unit 10 may include the plurality of still images P1, P2, and the like, as shown in FIG. 5, from video information captured by a camera (not shown) mounted on an aircraft and moving in position. This is the part that extracts P3, .. Pn ...). At this time, the image information acquisition unit 10, the shooting time (T1, T2, T3, ... Tn ...) each of the obtained still images (P1, P2, P3, ... Pn ...) Also write together.

As shown in FIG. 5, the image information acquisition unit 10 may acquire a still image (P1, P2, P3, ..Pn ...) which partially overlap each other, as shown in FIG. It may also be obtained as a still image (P1, P2, P3, ... Pn ...) do not overlap each other. In the present embodiment, the image information acquisition unit 10 acquires a still image (P1, P2, P3, ... Pn ...) partially overlapping each other, as shown in FIG.

In the present embodiment, the image information acquisition unit 10 adjusts the shooting frame per second of the still image (P1, P2, P3, ... Pn ...) obtained from the video information (video). In order to adjust the sampling period SP1, the resolution of the still images P1, P2, P3, .. Pn.

The navigation information acquisition unit 20 is a device for measuring and obtaining navigation information such as the position and the moving speed and the attitude of the camera over time, and the position and the moving speed and the attitude of the aircraft on which the camera is mounted. By measuring, the position, the moving speed and the posture of the camera are measured.

The navigation information acquisition unit 20 is a hybrid or integrated navigation system including an inertial navigation system (INS) and a satellite navigation system.

The inertial navigation system (INS) is a device that combines a plurality of gyros and an accelerometer and processes the signals with a computer to obtain navigation information such as the position or attitude of the aircraft. The inertial navigation system (INS) integrates the acquired acceleration information and angular velocity information to Accurately calculate your current position, speed, angle, etc. in a short time.

In the present embodiment, since the inertial navigation system operates at a sampling period SP2 having a value different from that of the sampling period SP1 of the image information acquisition unit 10, the measurement times t1, t2, t3, ... tn ... does not coincide with the shooting times T1, T2, T3, ..Tn ... of the still images P1, P2, P3, ..Pn .... In general, the sampling period SP2 of the navigation information is shorter than the sampling period SP1 of the image information acquisition unit 10.

The satellite navigation system is a navigation device using satellites as a reference point for positioning, and observes radio waves emitted from satellites or uses satellites as relay stations to confirm the position of the aircraft. Representative examples of the satellite navigation system include a GPS (Global Positiong System) or a DGPS (Differencial Global Positiong System). In this embodiment, the satellite navigation system is an auxiliary device provided to reduce the integral error accumulated by the inertial navigation system.

The navigation information acquisition unit 20 uses dead reckoning to calculate the current position using the course and distance navigated from the reference position.

The navigation information synchronization unit 30 is a part for synchronizing the still images P1, P2, P3, ..Pn ... and the navigation information with each other.

The navigation information synchronization unit 30 corresponds to the photographing time T1, T2, T3, .. Tn ... of the still images P1, P2, P3, .. Pn... Obtain the navigation information. At this time, by interpolating the navigation information output from the navigation information acquisition unit 20, navigation information corresponding to the photographing times T1, T2, T3, ..Tn ... are obtained.

The coordinate conversion unit 40 uses the still images P1, P2, P3, .. Pn... And navigation information synchronized by the navigation information synchronization unit 30, as shown in FIG. 3. As described above, the object coordinates (X _P , Y _P ) formed on the subject (M) corresponding to the photo coordinates (x _P , y _P ) which are specific coordinates on the still image ( _P ) are obtained.

The coordinate conversion unit 40 uses a collinearity condition equation, such as Equation 1 below, wherein Equation 1 is an arbitrary point on the subject M as shown in FIG. 3. (x _P, Y _P) and the (x _P, Y _P) corresponding points on the still image (P) corresponding to the (x _P, y _P) and the camera projection center (C) the collinearity condition that they exist on the same straight line in the Derived from Collinearity condition.

----식(1)

---- Equation (1)

Where f is the focal length of the camera, (X ₀ , Y ₀ , Z ₀ ) is the coordinate on the subject M of the projection center C, and (x ₀ , y ₀ ) is the static of the projection center C Photo coordinates on the image P, where m _ij is a value of i rows and j columns of the rotation matrix M with respect to the attitude of the camera, and is determined by the position and attitude of the camera. In this case, the position and the moving speed of the projection center C may be calculated from the position and the moving speed of the camera.

Therefore, when the arbitrary point x _{P =} (x _P , y _P ) on the still image P on the xy coordinate plane is substituted at the current time and the current position according to Equation (1), the corresponding XY coordinates The point X _{P =} (X _P , Y _P ) on the plane can be obtained.

In the present embodiment, the coordinate conversion unit 40 converts five photo coordinates into five subject coordinates for one still image P, as shown in FIG. 3. The photo coordinates (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ), and (x ₄ , y ₄ ) in the corner are respectively set to the subject coordinates (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), (X ₄ , Y ₄ ) and convert (x ₀ , y ₀ ), the photo coordinates of the projection center (C), to (X ₀ , Y ₀ ) do. Here, it is assumed that the subject M exists in a plane where Z = 0, and Z ₀ = Z ₁ = Z ₂ = Z ₃ = Z ₄ = 0.

The image display unit 50 may include the five subject coordinates (X ₀ , Y ₀ ), (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), (X ₄ , Y ₄ ), the mosaic image is generated and displayed by arranging the still images P1, P2, P3, ..Pn ... as shown in FIG.

Here, the photo coordinates of the plurality of still images Pi, i = 1, 2, 3 are represented by x _ij = (x _ij , y _ij ) (j = 1,2,3,4), and the still images The subject coordinate of (Pi, i = 1, 2, 3) is expressed as X _ij = (X _ij , Y _ij ) (j = 0,1,2,3,4).

Each component of the mosaic image generating apparatus 100 is configured to operate in real time by processing the still images P1, P2, P3, ..Pn ... and the navigation information within a predetermined time. have.

The mosaic image generating apparatus 100 having the above-described configuration includes a navigation information acquisition unit 20 for acquiring a position, a moving speed, a posture, and the like of the camera, and specific coordinates on the still image P using collinear conditional expressions. picture coordinates (x _P, y _P), the object coordinate converter (40) for obtaining the object coordinates (x _P, Y _P) formed on a (M) and the object coordinates (x _P, Y corresponding to the _Since the image display unit 50 for arranging the still images (P) by using the P), it is possible to simply calculate the arrangement position of the still images (P) using the navigation information of the aircraft, the aircraft There is an advantage of generating an accurate and seamless mosaic image in mobile photographing using a moving object.

In addition, unlike the conventional mosaic image generation methods, the mosaic image generating apparatus 100 has a very small amount of calculation required for image processing, and thus, processes the still image P and the navigation information within a predetermined time and performs real time. There is an advantage that can be operated. Accordingly, the mosaic image generating apparatus 100 may have a wide viewing angle generated according to a flight trajectory so that the entire survey of the disaster may be quickly performed in real time when the damage status investigation is mounted on the aircraft and used in case of an emergency disaster. There is an advantage that a mosaic image of a viewing angle can be provided.

In addition, since the mosaic image generating apparatus 100 includes a navigation information synchronization unit for acquiring the navigation information for each photographing time of the still image P, a sampling cycle of the image information acquisition unit 10 ( Even when the sampling period SP2 of SP1) and the navigation information acquisition unit 20 do not coincide with each other, by synchronizing the still image P with the navigation information, each photographing time of the still image P ( T1, T2, T3, ... Tn ...) has the advantage of obtaining the corresponding navigation information corresponding thereto.

In addition, the mosaic image generating apparatus 100, the coordinate transformation unit 40 is the photo coordinates (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₂ ) of the four corners on the still image (P) converted to _{3, y 3), (x} 4, y 4) of the object coordinates (x _1, y _{1), respectively, (x 2, y 2)} , (x 3, y 3), (x 4, y 4) Therefore, there is an advantage that the connection between the still images P can be represented continuously without disconnection. If only the coordinates (x ₀ , y ₀ ) and the coordinates (x ₁ , y ₁ ) are used without using five photo coordinates, the connection between the still images P in the remaining three corner portions This is not smooth and is more likely to break.

In addition, since the navigation information acquisition unit 20 includes an inertial navigation system (INS), the mosaic image generating apparatus 100 integrates acceleration information and angular velocity information obtained from a plurality of gyros and accelerometers. The advantage is that the current position, speed, angle, etc. can be calculated accurately in a short time.

In addition, since the navigation information acquisition unit 20 includes a satellite navigation system as an auxiliary device, the mosaic image generating apparatus 100 may be configured to change according to time by the inertial navigation system INS. There is an advantage that can reduce the cumulative integration error.

Meanwhile, the mosaic image generating apparatus 100 obtains still images P1, P2, P3, .. Pn... Which partially overlap each other as shown in FIG. 5. The mosaic image may be generated such that the shape of the subject M is continuously displayed without interruption.

In addition, the mosaic image generating apparatus 100 may adjust the sampling period SP1 and the resolution of the still image P obtained by the image information obtaining unit 10, and thus, the video as the original image. When the resolution is too high, the resolution of the still image P can be lowered, thereby increasing the processing speed of the still image P and reducing the storage space of the still image P.

Hereinafter, an example of a method of generating a mosaic image by using the mosaic image generating apparatus 100 having the above-described configuration will be described.

First, as shown in FIG. 5, from the video information captured by a camera (not shown) mounted on an aircraft and moving in position by using the image information acquisition unit 10, the plurality of still images ( P1, P2, P3, .. Pn ...) are extracted. At this time, each of the acquired still images P1, P2, P3, ..Pn ... is also recorded with the shooting time points T1, T2, T3, ..Tn .. In the present embodiment, as shown in Fig. 5, the images are acquired as still images P1, P2, P3, ..Pn .. which partially overlap each other. If necessary, the sampling period SP1 may be adjusted to adjust the shooting frames per second of the still images P1, P2, P3, ..Pn. It is also possible to adjust the resolution of P1, P2, P3, ... Pn ...). (Image information acquisition step, S100)

Meanwhile, while the image information acquisition step S100 is performed, the navigation information acquisition unit 20 is used to measure and obtain navigation information such as the position, the moving speed, and the attitude of the camera over time. do. The navigation information stores a value corresponding to each measurement time t1, t2, t3, ... tn ... by the sampling period SP2. (Navigating information acquisition step, S200)

When the still images P1, P2, P3, .. Pn... And the navigation information are obtained, the still images P1, P2, P3, Each navigation information corresponding to the photographing time (T1, T2, T3, ..Tn ...) of ... Pn ...) is obtained. (Navigation information synchronization step, S300)

In the navigation information synchronization step (S300), the still image (P1, P2, P3, .. Pn...) And the navigation information are synchronized with each other, and then, using the coordinate converter 40, FIG. As shown, for each still image (P1, P2, P3, .. Pn ...), five photo coordinates are converted into five subject coordinates, and four corner photographs on the still image P are illustrated. Coordinates (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ), (x ₄ , y ₄ ) and (x ₀ , y ₀ ), the photo coordinates of the projection center (C) Convert to the subject coordinates (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), (X ₄ , Y ₄ ) and (X ₀ , Y ₀ ) respectively. At this time, the collinearity condition Equation of Equation (1) described above is used. (Coordinate transformation step, S400)

After the coordinate transformation of the still images P1, P2, P3, .. Pn ... is performed, the five subject coordinates (X ₀ , Y ₀ ), (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), (X ₄ , Y ₄ ), in the XY coordinate plane as shown in FIG. 6, the still images P1, P2, P3, .. Pn. ..) is arranged according to the flight trajectory of the aircraft, and a mosaic image in which the shape of the subject M is seamlessly represented is generated and displayed. (Video display stage, S500)

The above-described steps may be performed in real time within a predetermined time while the aircraft is flying by mounting the mosaic image generating apparatus 100 on an aircraft.

The above-described mosaic image generating method includes a navigation information obtaining step (S200) of acquiring a position, a moving speed, a posture, and the like of the camera, and a photo coordinate (x _P ) which is a specific coordinate on the still image P using a collinear conditional expression. By using the coordinate conversion step (S400) for obtaining the subject coordinates (X _P , Y _P ) formed on the subject (M), corresponding to, y _P ), and using the subject coordinates (X _P , Y _P ) Since the image display step (S500) of arranging the still image (P), it is possible to simply calculate the arrangement position of the still image (P) using navigation information of the aircraft bar, moving objects such as aircraft There is an advantage in that it is possible to generate an accurate and seamless mosaic image in mobile photographing.

In addition, the mosaic image generating method includes a navigation information synchronization step (S300) of acquiring the navigation information for each photographing time of the still image (P), and thus, a sampling period of the image information acquisition unit 10. Even when the sampling period SP2 of the SP1 and the navigation information acquisition unit 20 does not coincide with each other, by synchronizing the still image P with the navigation information, each photographing time of the still image P is synchronized. Based on (T1, T2, T3, ... Tn ...) there is an advantage that can be obtained the navigation information corresponding thereto.

In addition, the mosaic image generating method may include photo coordinates (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y) of four corners on the still image P in the coordinate transformation step (S400). ₃ ), (x ₄ , y ₄ ) are converted to subject coordinates (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), (X ₄ , Y ₄ ) respectively, There is an advantage that the connection between the still images (P) can be represented continuously without disconnection.

In addition, unlike the conventional mosaic image generation methods, since the mosaic image generation method has a very small amount of calculation required for image processing, the mosaic image and the navigation information are processed within a predetermined time and the mosaic in real time. There is an advantage that can generate an image.

In the mosaic image generating method, the still images P1, P2, P3,... Pn... Which overlap with each other as shown in FIG. 5 are obtained in the image information acquiring step S100. The mosaic image may be generated such that the shape of (M) is continuously displayed without interruption.

In the present embodiment, the satellite navigation system is used to reduce the integral error accumulated by the inertial navigation system, but a compass may be used instead of or together with the satellite navigation system.

In the present embodiment, the still image (P1, P2, P3, ... Pn ...) overlapping with each other as shown in Figure 5 is obtained in the image information acquisition step (S100), As described above, still images P1, P2, P3, ..Pn... Which do not overlap each other may be obtained. In this case, as shown in FIG. 8, although the road or the rice field is cut off, a mosaic image in which continuity of the shape is maintained may be generated. That is, the mosaic image generating method has a merit of generating a mosaic image using still images P that do not overlap each other, unlike the conventional mosaic image generating methods.

In the present embodiment, the image information acquisition unit 10 is extracting the still images (P) from the video information of the original, but of course, the still image photographed by the digital camera can be used as the original image, of course. to be.

In the present embodiment, the navigation information synchronization unit 30 synchronizes the still images P1, P2, P3, ..Pn ... and the navigation information with each other, but the navigation information acquisition unit 20 When operated in the same sampling period SP2 as the sampling period SP1 of the image information acquisition unit 10, synchronization by the navigation information synchronization unit 30 may not be required.

The technical scope of the present invention is not limited to the contents described in the above embodiments, and the equivalent structure modified or changed by those skilled in the art can be applied to the technical It is clear that the present invention does not depart from the scope of thought.

[Description of Reference Numerals]
100: mosaic image generating apparatus 10: image information acquisition unit
20: navigation information acquisition unit 30: navigation information synchronization unit
40: coordinate conversion unit 50: video display unit
P, P1, P2, P3: Still image M: Subject
C: projection center

Claims (13)

An apparatus for generating a mosaic image by connecting a plurality of still images obtained by photographing a subject by a moving camera,
An image information obtaining unit which obtains the plurality of still images and a photographing time at which each of the still images is photographed from the image information photographed by the camera;
A navigation information acquisition unit for measuring and obtaining navigation information such as the position, movement speed, and attitude of the camera over time;
A coordinate converting unit for obtaining a subject coordinate formed on the subject, corresponding to a photo coordinate which is a specific coordinate on the still image by using a collinear condition equation;
An image display unit generating and displaying the mosaic image by arranging the still images using the subject coordinates;
Mosaic image generating apparatus comprising a. The method of claim 1,
And a navigation information synchronization unit for acquiring the navigation information for each shooting time of the still image by synchronizing the still image with the navigation information. The method of claim 1,
And the coordinate conversion unit converts photo coordinates of four corners on the still image into subject coordinates. The method of claim 1,
And processing the still image and the navigation information within a predetermined time to operate in real time. The method of claim 1,
The navigation information acquisition unit includes an inertial navigation system. 6. The method of claim 5,
The navigation information acquisition unit,
And a compass or a satellite navigation system so as to reduce the integral error of the inertial navigation system. The method of claim 1,
The image information acquisition unit,
And obtaining the still images so that the shape of the subject is continuously displayed without interruption. The method of claim 1,
The image information acquisition unit,
And a sampling period and a resolution of the obtained still image can be adjusted. A method of generating a mosaic image by connecting a plurality of still images obtained by photographing a subject by a moving camera,
An image information acquiring step of acquiring the plurality of still images and a photographing time at which each of the still images is photographed from the image information photographed by the camera;
A navigation information acquisition step of measuring and obtaining navigation information such as the position, movement speed, and attitude of the camera over time;
A coordinate conversion step of acquiring a subject coordinate formed on the subject, corresponding to a photo coordinate which is a specific coordinate on the still image using a collinear condition equation;
An image display step of generating and displaying the mosaic image by arranging the still images using the subject coordinates;
Mosaic image generating method comprising the. The method of claim 9,
And a navigation information synchronization step of acquiring the navigation information for each shooting time of the still image by synchronizing the still image with the navigation information. The method of claim 9,
In the coordinate transformation step,
And a photo coordinate of four corners on the still image is converted into a subject coordinate. The method of claim 9,
And the steps are processed in real time within a predetermined time. The method of claim 9,
In the image information acquisition step,
And the still images are acquired such that the shape of the subject is continuously expressed without interruption.

Images