KR20190143202A - Photographing apparatus and method for 3d modeling - Google Patents

Abstract

The present invention relates to a photographing apparatus for three-dimensional modeling and to a photographing method thereof. The photographing apparatus comprises: a photographing unit photographing an image; a moving body moving the photographing unit installed at an upper portion; a detection unit detecting a posture and a position of the photographing unit; and a control unit controlling driving of the photographing unit to automatically photograph an image at a predetermined distance and using the image photographed based on information on the posture and the position detected in the detection unit to generate three-dimensional modeling data. A surrounding image is photographed at a predetermined distance while the photographing unit is moved, and the three-dimensional modeling data may be generated using the photographed image.

Description

Shooting device and shooting method for 3D modeling {PHOTOGRAPHING APPARATUS AND METHOD FOR 3D MODELING}

The present invention relates to a three-dimensional modeling photographing apparatus and a photographing method, and more particularly, to a three-dimensional modeling photographing apparatus and a photographing method for constructing three-dimensional modeling data by photographing while moving the target space to be photographed.

In general, laser scanners have been used to produce three-dimensional shapes for a particular subject.

A laser scanner is a state-of-the-art surveying instrument that acquires three-dimensional coordinate values in point format by scanning numerous laser beams at dense intervals on the surface of a subject.

Such laser scanners are being developed in various forms depending on the site situation or the size of the object used.

However, laser scanners have difficulty in reconstructing three-dimensional shapes when scanning a natural feature or feature when the size of the scanning object is large and the scanning range is wide.

Accordingly, in recent years, a technique of obtaining a three-dimensional solid shape by photographing a specific photographing target through drones or aerial photography has been used.

However, drones or aerial photography methods have limited limitations in generating stereoscopic images due to lack of photographed images, or inconsistencies in the restoration, or due to various aerial photography constraints.

Since image data mainly uses TIFF (Tagged Image File Format) or JPEG compressed files, it is possible to modify pictures, display and edit them in software as TIFF or JPEG files.

Some have the function of connecting location information from a GPS receiver to a camera. The information recorded in Exif can be used to efficiently manage image files. Get information about the image.

Patent Document 1 and Patent Document 2 below disclose a three-dimensional image generation technology according to the prior art.

Republic of Korea Patent Publication No. 10-2008-0034419 (published April 21, 2008) Republic of Korea Patent Registration No. 10-1754599 (July 7, 2017 announcement)

On the other hand, when building 3D modeling data of buildings or road surfaces, accurate photo position, camera pose value, and proper superposition of images are very important factors, which greatly affect the accuracy of photo matching and modeling time.

In particular, when building 3D modeling data for a narrow space such as a vinyl house or a ginseng field, the flatness of the road surface is low, so that it is difficult to accurately photograph at a predetermined distance interval, and the posture of the camera changes frequently.

As a result, when the three-dimensional modeling construction according to the prior art has a problem that the accuracy of picture matching, the load on the system increases, and the time required for image capture, image processing, data construction is delayed.

Therefore, there is a demand for developing a technology capable of constructing three-dimensional modeling data by taking pictures at regular distances even in a narrow space.

An object of the present invention is to solve the problems as described above, three-dimensional modeling shooting to shoot at a certain distance while moving a specific space, such as buildings or road surface, and to build three-dimensional modeling data using the captured image It is to provide an apparatus and a photographing method.

It is another object of the present invention to provide a 3D modeling photographing apparatus and a photographing method capable of improving accuracy and minimizing processing time while constructing 3D modeling data while moving a narrow space as well as an open space.

In order to achieve the above object, the three-dimensional modeling photographing apparatus according to the present invention includes a photographing unit for photographing an image, a moving object for moving the photographing unit installed on the upper portion, a sensing unit for detecting the posture and position of the photographing unit; A control unit for controlling driving of the photographing unit to automatically photograph an image at a predetermined distance when the moving object is moved, and generating 3D modeling data using the photographed image based on posture and position information detected by the sensing unit; Characterized in that.

In addition, in order to achieve the object as described above, the three-dimensional modeling shooting method according to the present invention comprises the steps of (a) moving the moving object is installed, the shooting unit, (b) the moving distance and position of the shooting unit in the position sensing unit (C) detecting the posture of the camera provided in the photographing unit by the posture detecting unit; and (d) operating the shutter of the camera at a predetermined distance based on the detection result of the position detecting unit in the control unit. And controlling (e) correcting the photographed image based on the detection result of the posture detection unit, and generating 3D modeling data using the corrected image.

As described above, according to the photographing apparatus and the photographing method for 3D modeling according to the present invention, it is possible to photograph surrounding images at a predetermined distance while moving the photographing unit, and to generate 3D modeling data using the photographed image. Effect is obtained.

In particular, according to the present invention, by using any one of the rotation sensor of the wheel, GPS module, the lidar sensor provided in the moving body according to various conditions such as the state of the road surface to move, the state of the space to be photographed, the moving distance and The effect is that the position can be measured accurately and the image can be taken at regular intervals.

In addition, according to the present invention, it is possible to detect the posture of the photographing unit in the moving process, and to store the detected posture information and position information as an exif value in the image, thereby improving the accuracy of the 3D modeling data.

Accordingly, according to the present invention, by minimizing the number of images required for constructing the 3D modeling data, the effect of dramatically reducing the time required for image capturing and processing of the captured image is obtained.

1 is a block diagram of a three-dimensional modeling photographing apparatus and a photographing method according to an embodiment of the present invention;
2 is a configuration diagram of the photographing apparatus shown in FIG. 1;
3 is a flowchart illustrating a step-by-step method of photographing a three-dimensional modeling photographing apparatus according to an embodiment of the present invention.

Hereinafter, a 3D modeling photographing apparatus and a photographing method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating a three-dimensional modeling photographing apparatus and a photographing method according to an exemplary embodiment of the present invention, and FIG. 2 is a diagram illustrating the photographing apparatus shown in FIG. 1.

Hereinafter, terms indicating directions such as 'left', 'right', 'front', 'backward', 'upward' and 'downward' are defined as indicating respective directions based on the states shown in each drawing. do.

3D modeling photographing apparatus 10 according to an embodiment of the present invention, as shown in Figure 1, the moving unit 30 for moving the photographing unit 20 for photographing the image, the photographing unit 20 installed on the upper portion ), Controlling the driving of the photographing unit 20 to automatically capture an image every predetermined distance when the sensing unit 40 and the moving object 30 move to detect the posture and the position of the photographing unit 20, and the sensing unit 40. The controller 50 generates 3D modeling data by using the captured image based on the detected posture and the position information.

The photographing unit 20 may include a camera 21 for capturing an image around the photographing apparatus 10.

The camera 21 may selectively apply one or more according to an object to be photographed among an RGB camera, a thermal imaging camera, and a multispectral (or multispectral) camera that captures a general image.

The camera 21 may be installed on the movable body 30 by the mounting frame 22 and the mounting bar 23 installed between the mounting frame 22 and the movable body 30.

The camera 21 may be detachably coupled to an installation block provided at an upper end of the installation frame 22.

The installation bar 23 may be provided with a height adjustment wheel 24 for adjusting the height of the camera 21 by the rotation operation.

The height adjustment wheel 24 is rotatably installed at the center of the installation bar 23, and the height of the camera 21 can be adjusted by adjusting the distance between the upper end and the lower end of the installation bar 23 by the rotation operation. .

The height adjustment wheel 24 is provided with a wheel detection sensor 25 for detecting the rotation angle of the height adjustment wheel 24, the control unit 50 using the detection signal output from the wheel detection sensor 25 to the camera The height of 21 can be determined.

The wheel sensor 25 may be installed at the center of the main body 31 of the movable body 30 on which the installation bar 23 is installed.

On the other hand, the photographing unit 20 may be provided with an illumination module 26 for illuminating the space to be photographed.

The moving body 30 may include a main body 31 formed in a substantially square plate shape and a wheel 32 rotatably installed in contact with a road surface at a lower portion of the main body 31.

One or more wheels 32 may be installed, for example, four, depending on the width, state, etc. of the road surface on which the photographing apparatus 10 travels.

Such wheels 32 may be manufactured to a predetermined diameter, for example, 5 cm or more in order to minimize errors due to the curvature of the road surface.

In addition, the rotation sensor 43 may be installed at the wheel 32 as the position detecting unit 42 of the detecting unit 40 to be described below, in order to detect the moving distance of the moving body 30.

A handle 33 may be installed at one side of the movable body 30 so that an operator can easily move the movable body 30.

Of course, the present invention provides a drive module for providing a driving force to the wheel 32 of the moving body 30, for example, a drive motor and a gear unit (not shown), along the path set in advance using the control unit 50 The driving of the driving motor may be controlled to move the movable body 30.

The detector 40 may include a posture detector 41 that detects a posture of the camera 21 and a position detector 42 that detects a position of the photographing apparatus 10.

The posture detection unit 41 measures a posture by measuring the X, Y, and Z values of the camera 21.

For example, the posture detection unit 41 may be provided as an inertial measurement unit (IMU) for measuring the speed, direction, gravity, and acceleration of the moving object in a sensor-based manner.

The IMU-based position estimation is a method for recognizing the movement of pedestrians and moving objects using an accelerometer, an angular speedometer, a geomagnetic machine, and an altimeter.

IMUs applied to mobile equipment are generally equipped with three-axis accelerometers and three-axis angular accelerometers, so that the acceleration, rolling, pitch, and yaw angular velocity It is possible to measure and calculate the velocity and attitude of the moving object (pedestrian) by integrating the acceleration and angular velocity obtained from the IMU.

The position sensing unit 42 may include a GPS module 44 that calculates a position by using a Global Positioning System (GPS) signal received from a satellite.

When the position detecting unit 42 moves in a straight line direction based on the reference point, the position detecting unit 42 measures a distance from the reference point using a laser to detect a moving position of the photographing apparatus 10 (Light Detection And Ranging). It may include a sensor (not shown).

In addition, the position detecting unit 42 may include a rotation sensor 43 installed on the wheels 32 of the moving object 30 to detect the moving position of the photographing apparatus 10 using the moving distance of the moving object 30. Can be.

The controller 50 accurately measures the moving distance and the position of the moving object 30 for moving the photographing unit 20, and the camera 21 provided in the photographing unit 20 at predetermined distances based on the measured moving distance and the position. The shutter is controlled to operate, and the position information of the photographing unit 20 is stored in the memory.

The controller 50 may be provided as a computer terminal that is communicably connected to each device provided in the photographing apparatus 10.

The controller 50 is a rotation sensor 43, a GPS module 44, and a lith sensor 43 installed on the wheels 32 of the moving object 30 according to characteristics of a space to be photographed using the photographing apparatus 10, for example, a road surface state. One or more sensors may be used to determine the moving distance and the position of the photographing apparatus 10.

To this end, the control unit 50 operates the shutter at predetermined distances based on a detection signal of the setting unit 51 and the setting detection unit which receives one of the detection means by an operation applied by an operator to display an image. It may include a photographing controller 52 for controlling the driving of the photographing unit 20 to photograph.

In addition, the controller 50 captures images from the camera 21 based on the posture determination unit 53 determining the posture of the camera 21 according to the detection signal of the posture detection unit 41 and the determined posture of the camera 21. The apparatus may further include a data generator 54 for correcting the corrected image and generating 3D modeling data using the corrected image.

Here, the controller 50 controls to automatically extract the image information captured by the camera 21 to the outside of the camera, and to store the position information of the photographing apparatus 10 and the posture information of the camera 21 as an exif value in the corresponding image. can do.

As described above, according to the present invention, the surrounding image may be photographed at a predetermined distance while moving the photographing unit, and three-dimensional modeling data may be generated using the photographed image.

In particular, the present invention selectively moves by using any one of the rotation detection signal of the wheel provided in the moving object, GPS signal, the detection signal of the lidar sensor according to various conditions such as the state of the moving road surface, the state of the space to be photographed Accurately measure distances and positions, and capture images at regular distances.

In addition, the present invention can detect the posture of the photographing unit during the movement, and can store the detected posture information and position information as an exif value in the image to improve the accuracy of the 3D modeling data.

Accordingly, the present invention can significantly shorten the time required for image capturing and processing of the captured image by minimizing the number of images necessary for constructing the 3D modeling data.

Next, a photographing method of the photographing apparatus for 3D modeling according to a preferred embodiment of the present invention will be described in detail with reference to FIG. 3.

3 is a flowchart illustrating a step-by-step method of photographing a three-dimensional modeling photographing apparatus according to an embodiment of the present invention.

When power is supplied to the three-dimensional modeling photographing apparatus 10 in step S10 of FIG. 3, the controller 50 initializes each apparatus and photographs at a predetermined distance while moving the moving object 30 to construct three-dimensional modeling data. Prepare to do the action.

In operation S12, the setting unit 51 receives a sensing means for detecting a moving distance and a position of the photographing apparatus 10 by an operator's operation.

For example, the GPS module 44 may be set in an open space capable of receiving GPS signals of a satellite, and a lidar sensor may be set when the photographing apparatus 10 linearly moves about a reference point. In the case of a flat road surface, the rotation sensor 43 installed on the wheel 32 of the movable body 30 may be set.

Accordingly, the controller 50 may control to accurately measure the moving distance and the position of the photographing apparatus 10 by using the detection signal of the sensing means set among the rotation sensor 43, the GPS module 44, and the lidar sensor. have.

When the moving object 30 moves in step S14, the set sensing means detects the moving distance and position of the photographing apparatus 10, and the sensing signal output from the set sensing means is transmitted to the controller 50 (S16).

At this time, the IMU sensor provided in the posture detecting unit 41 detects the posture by measuring X, Y, and Z values of the camera 21 (18).

Then, the photographing controller 52 of the controller 50 receives the sensing signal of the sensing means to measure the moving distance and the position of the photographing apparatus 10, and shoots the image by operating the shutter of the camera 21 at a predetermined distance. To control (S20).

In step S22, the posture determination unit 53 determines the posture of the camera 21 according to the detection signal of the posture detection unit 41, and the data generator 54 determines the posture of the camera based on the determined posture of the camera 21. The image photographed at 21 is corrected, and 3D modeling data is generated using the corrected image.

At this time, the controller 50 adds the position information of the photographing apparatus 10 and the posture information of the camera 21 to the exif value of the corresponding image and stores it in the memory.

In step S24, the controller 50 checks whether the movement of the photographing apparatus 10 is stopped, and controls to repeat steps S16 to S24 until the movement of the photographing apparatus 10 is stopped.

If the inspection result of step S24 stops the movement of the photographing apparatus 10, the driving of each device is stopped and ends.

Through the above-described process, the present invention can photograph the surrounding image at a predetermined distance while moving the photographing unit, and generate 3D modeling data using the photographed image.

In particular, the present invention by selectively using any one of the wheel rotation sensor, GPS module, lidar sensor provided on the moving body according to various conditions, such as the state of the road surface to move, the state of the space to be photographed, the distance and position Accurate measurements can be taken at regular intervals.

In addition, the present invention can detect the posture of the photographing unit during the movement, and can store the detected posture information and position information as an exif value in the image to improve the accuracy of the 3D modeling data.

Accordingly, the present invention can significantly shorten the time required for image capturing and processing of the captured image by minimizing the number of images necessary for constructing the 3D modeling data.

 As mentioned above, although the invention made by the present inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary.

That is, the present invention is not only for buildings around the road, but also for crops.

The present invention is applied to a 3D modeling photographing apparatus and a photographing method for photographing an image at a predetermined distance while moving a camera and constructing 3D modeling data using the photographed image.

10: 3D modeling photographing device
20: recording unit 21: camera
22: Installation frame 23: Installation bar
24: height adjustment wheel 25: wheel detection sensor
26: lighting module
30: moving body 31: main body
32: wheel 33: handle
40: detection unit 41: posture detection unit
42: position detection unit 43: rotation sensor
44: GPS module
50: control unit 51: setting unit
52: shooting control unit 53: posture determination unit
54: data generator

Claims (8)

Shooting unit for taking a picture,
A mobile body for moving the photographing unit installed at an upper portion,
A detector for detecting the posture and the position of the photographing unit;
A control unit for controlling driving of the photographing unit to automatically photograph an image at a predetermined distance when the moving object is moved, and generating 3D modeling data using the photographed image based on posture and position information detected by the sensing unit; 3D modeling photographing apparatus, characterized in that. The method of claim 1,
The photographing unit includes a camera for photographing the surrounding images,
The camera is detachably installed on the movable body by the mounting frame and an installation bar installed between the mounting frame and the movable body.
The installation bar is provided with a height adjustment wheel for adjusting the height of the camera by the rotation operation,
The height adjustment wheel is provided with a wheel sensor for detecting the rotation angle of the height adjustment wheel,
The control unit is a three-dimensional modeling photographing apparatus, characterized in that for determining the height of the camera using the detection signal output from the wheel sensor. The method of claim 1,
The movable body and the main body is formed in a plate shape
It includes a wheel that is rotatably installed in the state in contact with the road surface in the lower portion of the main body,
The wheel is a three-dimensional modeling photographing apparatus, characterized in that provided in one or a plurality depending on the width, state, etc. of the road surface on which the photographing device is running. The method of claim 1,
The detection unit and the posture detection unit for detecting the posture of the camera provided in the photographing unit
It includes a position detecting unit for detecting the position of the photographing device,
The posture detection unit is a three-dimensional modeling photographing apparatus, characterized in that provided by the inertial measurement device for detecting the posture by measuring the X, Y, Z value of the camera. The method of claim 1,
The position sensing unit GPS module for calculating the position using the GPS signal of the satellite,
In the case of moving along a straight line with respect to the reference point, a lidar sensor for detecting the moving position of the photographing apparatus by measuring a distance from the reference point using a laser and
Is installed on the wheel of the moving body includes a one or more of the rotation sensor for detecting the rotation angle of the wheel to measure the moving distance of the moving body,
And the control unit sets any one of the respective sensing means, and determines the moving distance and the position of the photographing apparatus using the sensing signal of the set sensing means. The method of claim 1,
The control unit is a setting unit for receiving any one of a plurality of detection means for detecting the moving distance of the photographing apparatus,
A photographing controller configured to control driving of the photographing unit to photograph an image by operating a shutter of the camera provided at the photographing unit at a predetermined distance based on a sensing signal of the sensing means;
A posture determination unit for determining a posture of the camera according to a detection signal of the detection unit;
And a data generator for correcting an image photographed by the camera based on the posture of the camera determined by the posture determining unit, and generating 3D modeling data using the corrected image.
And storing the position information of the photographing apparatus and the posture information of the camera as an exif value in a corresponding image. In the photographing method of the three-dimensional modeling photographing apparatus according to any one of claims 1 to 6,
(a) moving the moving object in which the photographing unit is installed;
(b) detecting the moving distance and the position of the photographing unit by the position detecting unit;
(c) detecting the posture of the camera provided in the photographing unit by the posture detecting unit;
(d) controlling, by the controller, to shoot an image by operating the shutter of the camera at a predetermined distance based on the detection result of the position detecting unit;
(e) correcting the photographed image based on the detection result of the posture detection unit, and generating three-dimensional modeling data using the corrected image. The method of claim 7, wherein
In the step (b), the control unit sets any one of the GPS module, the lidar sensor, and the rotation sensor installed on the wheel of the moving object as a sensing means, and uses the sensing signal of the set sensing means to determine the moving distance and position of the photographing apparatus. 3D modeling photographing method, characterized in that judging.

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