WO2019069741A1 - Procédé et programme de capture d'image - Google Patents

Procédé et programme de capture d'image Download PDF

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Publication number
WO2019069741A1
WO2019069741A1 PCT/JP2018/035323 JP2018035323W WO2019069741A1 WO 2019069741 A1 WO2019069741 A1 WO 2019069741A1 JP 2018035323 W JP2018035323 W JP 2018035323W WO 2019069741 A1 WO2019069741 A1 WO 2019069741A1
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WIPO (PCT)
Prior art keywords
imaging
photographing
moving
unit
captured image
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Application number
PCT/JP2018/035323
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English (en)
Japanese (ja)
Inventor
小野　修司
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富士フイルム株式会社
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Publication of WO2019069741A1 publication Critical patent/WO2019069741A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/30—Polarising elements
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B11/00—Filters or other obturators specially adapted for photographic purposes
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors

Definitions

  • the present invention relates to an imaging method and program, and more particularly to an imaging method and program by a camera provided with a polarizing filter.
  • a camera has been provided to a moving mechanism such as an unmanned air vehicle (for example, a drone) to shoot the ground from the air, and various related techniques have been proposed.
  • a moving mechanism such as an unmanned air vehicle (for example, a drone) to shoot the ground from the air, and various related techniques have been proposed.
  • Patent Document 1 compares the information on the land portion where the drone flies above the sky with the information on the image captured immediately before when the land is continuously photographed by the camera mounted on the drone.
  • a technique is described in which an image is taken based on an overlap rate between a land part where the drone flies above and an image taken immediately before.
  • a technique aiming at acquiring a plurality of photography pictures which are easy to connect is indicated. Specifically, a technique is disclosed that irradiates a building that is a subject with a pattern of a predetermined pattern, and acquires a plurality of photographed images so that the patterns overlap.
  • a camera provided with a polarization filter is used to acquire a photographed image in which the influence of reflected light is suppressed.
  • acquisition of the photographed image is performed using a camera provided with a polarization filter.
  • the polarized light filter scans and acquires a plurality of photographed images (scanning and photographing), but the polarized light filter and the water surface The positional relationship (angle) with is maintained.
  • scan photography is performed by maintaining the distance to the subject and moving.
  • FIG. 2 of Patent Document 1 describes that a plurality of photographed images are acquired by performing horizontal movement (movement to maintain a subject distance) with respect to land that is a subject.
  • FIG. 4 of Patent Document 2 describes that a plurality of photographed images are acquired by moving to maintain a distance with respect to a building that is a subject.
  • the movement of the imaging device The distance may be long.
  • the present invention has been made in view of such circumstances, and its object is to suppress the influence of reflected light by scanning and photographing with a short moving distance when photographing an object having a wide reflecting surface in the photographing range.
  • An imaging method and program capable of acquiring a plurality of photographed images.
  • an imaging method includes an imaging unit including a polarization filter, and a mechanism for moving the imaging unit in a normal direction of a reflection surface of an object of the imaging unit.
  • a second captured image acquisition step of acquiring a second captured image by the imaging unit at the second imaging position.
  • the shooting direction of the shooting unit is aligned with the Brewster's angle with the reflective surface, the first captured image is acquired at the first imaging position, and the normal direction of the reflective surface from the first imaging position A second captured image is acquired at a second imaging position located at Thereby, this aspect can acquire a plurality of photography pictures by which influence of catoptric light was controlled by scan photography with a short movement distance.
  • the imaging device is moved from the first imaging position to a second imaging position where the distance from the reflective surface is long.
  • the imaging device is moved from the first imaging position to the second imaging position where the distance from the reflective surface is long. That is, according to this aspect, since the scan shooting is performed while moving to a position far from the position close to the reflection surface, acquisition of the first photographed image can be started immediately after the movement of the photographing device.
  • the imaging device is moved from the first imaging position to a second imaging position where the distance from the reflective surface is short.
  • the imaging device is moved from the first imaging position to the second imaging position where the distance from the reflective surface is short. That is, according to this aspect, since the scanning and photographing is performed while moving to a position near from the position far from the reflecting surface, the photographing apparatus can be recovered immediately after the end of the photographing.
  • the shooting direction setting step is performed before the first moving step.
  • the imaging direction of the imaging unit is aligned with the Brewster's angle with the reflective surface before the first moving step, smooth acquisition of the captured image is performed after moving to the first imaging position. It will be.
  • the shooting direction setting step is performed at the first shooting position in the first movement step.
  • the imaging direction of the imaging unit since the imaging direction of the imaging unit is aligned with the Brewster angle with the reflective surface, the imaging direction can be more accurately aligned with the Brewster angle with the reflective surface. Images can be acquired.
  • the imaging device is moved to a second imaging position where the second imaging image acquisition step can acquire a second imaging image partially overlapping the first imaging image.
  • the second captured image is acquired such that the first captured image and the second captured image have an overlap, a plurality of continuous captured images can be acquired.
  • the imaging unit acquires captured images with thinned pixels. Be done.
  • the photographed image when the distance between the reflective surface and the imaging unit is equal to or less than the threshold, the photographed image in which the pixels are thinned out is acquired.
  • the data amount of the captured image when the distance between the reflective surface and the imaging unit is short and an image with high enough definition can be acquired, the data amount of the captured image can be reduced by thinning the number of pixels.
  • the second captured image zoomed by the imaging unit is acquired.
  • the zoomed second captured image is acquired, and therefore, a plurality of objects having the same size may be obtained. It is possible to obtain a captured image of
  • the normal direction of the reflective surface is a vertical direction.
  • the subject is a sea, a river, a lake, a road or a building.
  • the moving mechanism is comprised of an unmanned air vehicle, a crane, or a telescopic prop.
  • a program according to another aspect of the present invention is a photographing method of a photographing apparatus having a photographing unit provided with a polarization filter and a mechanism for moving the photographing unit in a normal direction of a reflection surface of a subject of the photographing unit.
  • a shooting direction setting step for aligning the shooting direction of the shooting unit with the Brewster's angle with the reflection surface, a first moving step for moving the shooting apparatus to the first shooting position, and the shooting unit at the first shooting position A first captured image acquiring step of acquiring a first captured image, a second moving step of moving the imaging device from a first imaging position to a second imaging position positioned in a normal direction, and In the second photographing position, the photographing unit causes the computer to execute a photographing method including a second photographed image acquisition step of acquiring a second photographed image.
  • the imaging direction of the imaging unit is aligned with Brewster's angle with the reflective surface, and the first captured image is acquired at the first imaging position, and the normal direction of the reflective surface from the first imaging position Since the second captured image is acquired at the second imaging position located in the above, a plurality of captured images in which the influence of the reflected light is suppressed can be acquired by scanning imaging with a short moving distance.
  • FIG. 1 is an external view showing an example of a photographing apparatus when a drone is used as a moving mechanism.
  • FIG. 2 is an external perspective view of the digital camera.
  • FIG. 3 is a block diagram showing an embodiment of the internal configuration of the digital camera.
  • FIG. 4 is a diagram showing the reflectances of p-polarized light and s-polarized light.
  • FIG. 5 is a diagram for explaining acquisition of a first captured image at a first imaging position.
  • FIG. 6 is a diagram for explaining scan imaging in the horizontal direction.
  • FIG. 7 is a diagram for explaining scan imaging in the vertical direction.
  • FIG. 8 is a diagram for explaining the movement distance of the imaging apparatus for vertical scanning and horizontal scanning.
  • FIG. 9 is a flow chart showing a first embodiment of the photographing method.
  • FIG. 9 is a flow chart showing a first embodiment of the photographing method.
  • FIG. 10 is a flow chart showing a second embodiment of the photographing method.
  • FIG. 11 is a view showing the appearance of a crane type camera movement device which is an example of the movement mechanism.
  • FIG. 12 is an external view showing a balloon type camera movement device which is an example of the movement mechanism.
  • the subject of the photographing apparatus and photographing method of the present invention has a reflecting surface and is photographed at a wide angle of view.
  • the subject having the reflective surface is not particularly limited, and is, for example, a sea, a river, a lake, a road, or a building.
  • the water surface is a reflective surface will be described.
  • the reflection in the water surface is suppressed and the information in the water is effectively acquired will be described.
  • FIG. 1 is an external view showing an example of a photographing apparatus when a drone is used as a moving mechanism.
  • the photographing device 11 has a drone 100 which is a moving mechanism and a digital camera 10.
  • the drone 100 moves by driving propellers 105 attached to the four corners. Specifically, the drone 100 can move vertically downward and upward in the air, and can move forward and backward. Moreover, the leg part 103 is attached to the drone 100, and when the drone 100 lands, the leg part 103 will be earth
  • An arm 107 is provided on the lower surface of the drone 100, and the digital camera 10 is attached by the arm 107.
  • the arm 107 can adjust the shooting direction of the digital camera 10 in the pan and / or tilt directions by remote control or manually, and can change the shooting direction of the digital camera 10.
  • the drone 100 is provided with an antenna 109, and the drone 100 is steered by a control terminal (not shown) that the pilot of the drone 100 has.
  • the drone 100 is also referred to as a drone or multicopter.
  • FIG. 2 is an external perspective view of the digital camera 10 constituting the photographing unit.
  • the digital camera 10 mainly includes a cylindrical case 1, a photographing system including a photographing lens 12 as contained in the case 1 (see FIG. 3), a lens cover 5 for protecting the photographing system, and It is comprised by the box 3 provided in the side.
  • the lens cover 5 is formed of a hemispherical (dome-shaped) transparent resin.
  • a memory card 54 for storing the photographed image is inserted in the box 3 provided on the side of the housing 1, and a device for storing the photographed image is provided. ing.
  • FIG. 3 is a block diagram showing an embodiment of the internal configuration of the digital camera 10. As shown in FIG. The digital camera 10 records a photographed image on a memory card 54, and the operation of the entire apparatus is centrally controlled by a central processing unit (CPU: Central Processing Unit) 40.
  • CPU Central Processing Unit
  • the digital camera 10 is provided with an operation unit 38.
  • a signal from the operation unit 38 is input to the CPU 40, and the CPU 40 controls each circuit of the digital camera 10 based on the input signal. For example, drive control of the image sensor (image sensor) 16 (sensor drive unit 32), lens Drive control (lens drive unit 36), diaphragm drive control (diaphragm drive unit 34), imaging operation control, image processing control, display control of recording / reproduction control of image data, and the like are performed.
  • the operation unit 38 is provided at the control terminal owned by the pilot of the drone 100, and communication of control signals is performed via the antenna 109.
  • CMOS complementary metal-oxide semiconductor
  • the imaging device 16 is not limited to the CMOS type, and may be an XY address type or a CCD (Charge Coupled Device) type color image sensor.
  • a polarizing filter 13 is provided in front of the photographing lens 12.
  • the polarizing filter 13 has a function of blocking s-polarized light of the reflected light from the reflection surface of the subject.
  • the polarization filter 13 is arranged such that the polarization axis is linear in the horizontal direction with respect to the water surface W so as to block, for example, the reflected light from the water surface W.
  • the imaging device 16 is composed of a plurality of pixels arranged in a matrix in a predetermined pattern arrangement (Bayer arrangement), and each pixel is a microlens, a red (R), a green (G) or a blue (B) color filter CF And a photodiode PD.
  • the CPU 40 always performs an AF (Auto Focus) operation and an AE (Auto Exposure) operation during shooting and / or recording (recording) of a moving image, and shooting and / or display of a live view image.
  • AF Auto Focus
  • AE Automatic Exposure
  • the ROM 47 is a ROM (Read Only Memory) that stores a camera control program, defect information of the imaging device 16, various parameters and tables used for image processing, etc., or an EEPROM (Electrically Erasable Programmable Read-Only Memory). It is.
  • ROM Read Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • the RGB image data (mosaic image data) output from the imaging element 16 at the time of shooting a moving image or a still image is input from the image input controller 22 to a memory (SDRAM: Synchronous Dynamic Random Access Memory) 48 and temporarily stored. Ru.
  • SDRAM Synchronous Dynamic Random Access Memory
  • the image data temporarily stored in the memory 48 is appropriately read by the image processing unit 24.
  • offset processing white balance correction
  • gain control processing including sensitivity correction
  • gamma correction processing demosaicing processing (demosaicing) Processing) signal processing such as RGB and / or YC conversion processing is performed.
  • the image data processed by the image processing unit 24 is input to a VRAM (Video RAM) 50.
  • the VRAM 50 includes an A area and a B area in which image data representing an image of one frame is recorded. Image data representing an image of one frame in the VRAM 50 is alternately rewritten in the A area and the B area. The written image data is read out from the area other than the area in which the image data is rewritten among the A area and the B area of the VRAM 50.
  • the image data read from the VRAM 50 is encoded by the video encoder 28 and output to the display unit (not shown), whereby the live view image is continuously displayed.
  • the compression / decompression processing unit 26 performs compression processing on the luminance data Y and the color difference data Cb and Cr which are processed by the image processing unit 24 and temporarily stored in the memory 48 when recording a moving image or a still image.
  • a moving image for example, H.
  • It is compressed in the H.264 format
  • a still image for example, compressed in the JPEG (Joint Photographic coding Experts Group) format.
  • the compressed image data compressed by the compression / decompression processing unit 26 is recorded on the memory card 54 via the media controller 52.
  • the compression / decompression processing unit 26 decompresses the compressed image data obtained from the memory card 54 via the media controller 52 in the reproduction mode.
  • the media controller 52 performs recording and reading of compressed image data on the memory card 54 and the like.
  • the live view image and the captured image captured by the digital camera 10 are displayed on the display unit of the control terminal.
  • the Brewster angle will be described.
  • the water surface W is photographed by the photographing device 11 provided with the polarizing filter 13.
  • the polarizing filter 13 polarizes the reflected light on the water surface W into s-polarized light and p-polarized light, and utilizes Brewster's angle at which the reflectance of p-polarized light is 0 (zero). The influence is suppressed.
  • FIG. 4 is a diagram showing the reflectance of p-polarized light and s-polarized light on the surface of a certain substance A.
  • the reflectance of s-polarized light increases as the incident angle increases.
  • the reflectance decreases toward 0 from 0 to the Brewster's angle, and the reflectance becomes 0 at the Brewster's angle, and then the reflectance increases as the incident angle increases. The rate also increases.
  • Brewster's angle is expressed by the following equation (1).
  • the refractive index of water is 1.33
  • the Brewster angle at the water surface W is 53.1 °.
  • the reflectance of p-polarized light becomes 0 near Brewster's angle, and the s-polarized light is blocked by the polarizing filter 13.
  • the polarizing filter 13 for blocking s-polarized light
  • FIG. 5 is a diagram for explaining acquisition of a first captured image at a first imaging position.
  • the drone 100 moves from the water surface W to a first imaging position at a distance L.
  • the normal line 61 of the water surface W which is a reflective surface is shown in the figure, and the normal line 61 indicates the vertical direction.
  • the shooting direction of the digital camera 10 is adjusted by the arm 107 (FIG. 1) so as to satisfy the water surface W and the Brewster's angle.
  • the polarization filter 13 is aligned with the position where the reflected light from the water surface W is blocked by aligning the shooting direction of the digital camera 10 with the Brewster angle of the water surface W (reflection surface). That is, setting the imaging direction to Brewster's angle means that the polarization filter 13 is provided at a position where the polarization axis of the polarization filter 13 can block the reflected light from the water surface W.
  • the imaging device 11 can acquire a photographed image in which the influence of the reflected light on the region R (A) is suppressed by photographing the water surface W at the first photographing position. Specifically, on the water surface W of the region R (A), the reflected light T satisfies the Brewster's angle 53.1 ° and is reflected, but the reflected light T is composed of the S-polarization component 51 and the S-polarization component Since the light source 51 is shielded by the polarizing filter 13, the photographing device 11 can obtain a photographed image in which the reflected light of the region R (A) is suppressed at the first photographing position.
  • FIG. 6 is a diagram showing a conventional imaging method, and is a diagram for explaining scan imaging in the horizontal direction (horizontal scan imaging).
  • the imaging device 11 captures an image of R (A) that can be captured at the first imaging position in which the influence of the reflected light is suppressed. After that, while maintaining the distance L from the water surface W, it moves in the horizontal direction with respect to the water surface W, and imaging from the region R (B) to the region R (G) where the influence of the reflected light is suppressed is sequentially performed.
  • the photographing device 11 moves horizontally while maintaining the photographing direction matched to the Brewster's angle.
  • the distance between the imaging device 11 and the water surface W does not change from the region R (A) to the region R (B), the size does not change.
  • FIG. 7 is a diagram for explaining scan imaging in the vertical direction (vertical scan imaging).
  • the imaging device 11 captures an image of R (A) that can be captured at the first imaging position in which the influence of the reflected light is suppressed. Thereafter, the imaging device 11 moves to a second imaging position located in the upper direction of the normal line 61 of the water surface W, and imaging from the area Q (A) to the area Q (D) in which the influence of the reflected light is suppressed. Do one by one.
  • the distance L from the water surface W becomes sequentially longer while the imaging direction adjusted to the Brewster's angle is maintained. That is, after acquiring the first photographed image at the first photographing position separated from the water surface W by the distance L, the photographing device 11 performs the second photographing at the second photographed position farther from the water surface W than the distance L. Captured images are acquired sequentially.
  • the imaging device 11 may move, as a second imaging position, a position at which a second captured image that partially overlaps the first captured image can be acquired.
  • the photographing device 11 obtains a photographed image at a partially overlapping photographing position in each of the area R (A) and the area Q (A) to the area Q (D). .
  • the photographing device 11 may acquire the photographed image using the zoom function.
  • the digital camera 10 causes the CPU 40 to operate the lens driving unit 36 and acquires a captured image using the zoom function.
  • the threshold is determined based on the uniformity of the size of the plurality of photographed images that the user desires and the performance of the digital camera 10.
  • the resolution of the captured image acquired by the imaging device 11 is increased. Therefore, when a captured image having sufficient resolution is acquired, thinning processing is performed on the pixels of the captured image by the image processing unit 24 under the control of the CPU 40 to acquire the thinned out captured image. It is also good. That is, in the acquisition of the first captured image and the second captured image, when the distance between the reflective surface and the digital camera 10 is equal to or less than the threshold value, the pixels are thinned out by the digital camera 10 A photographed image may be acquired.
  • FIG. 8 is a diagram for explaining the moving distance of the imaging device 11 between vertical scanning and horizontal scanning.
  • the imaging device 11 performs imaging of the imaging point R1 at the first imaging position S1 in accordance with the imaging direction matched to the Brewster angle ⁇ .
  • photographing of the photographing point R2 is performed at the second photographing position S2 in the photographing direction matched to the Brewster angle ⁇ .
  • the photographing device 11 moves from the first photographing position S1 to the second photographing position S2, it is necessary to move the distance a in the horizontal direction.
  • the photographing point R2 is photographed at the second photographing position S3 in the photographing direction matched to the Brewster's angle ⁇ .
  • the photographing device 11 moves from the first photographing position S1 to the second photographing position S3, it is necessary to move the distance b upward in the normal direction of the water surface W.
  • the shooting apparatus 11 moves from the first shooting position S1 to the second shooting position S2 by moving the same distance a as the distance from the shooting point R1 to the shooting point R2 Need to do.
  • the photographing device 11 moves from the first photographing position S1 to the second photographing position S3 at the distance b.
  • the relationship between the distance a and the distance b depends on the value of the Brewster angle ⁇ , for example, in the case of the Brewster angle (53.1 °) of the water surface W, b> a, and the distance b is about the distance a It may be half the value. Therefore, for example, when scanning and photographing on the water surface W is considered, vertical scanning and photographing has an advantage that the moving distance of the photographing device 11 becomes short as compared with horizontal scanning and photographing. If the value of Brewster's angle ⁇ is ⁇ > 45 °, it is considered that scanning imaging can be performed with a moving distance shorter in vertical scanning imaging than horizontal scanning imaging.
  • FIG. 9 is a flow chart showing a first embodiment of a photographing method using the photographing device 11.
  • vertical scanning imaging is performed from a position close to the reflection surface (water surface W).
  • the shooting direction of the digital camera 10 is adjusted to the Brewster's angle with the water surface W (step S10: shooting direction setting step).
  • Control of the photographing direction may be performed manually by a user such as a photographer or may be performed automatically.
  • the influence of the reflected light incident on the digital camera 10 is adjusted to the least by the known method.
  • the polarization filter 13 is rotatably provided, the polarization filter 13 is rotated by a known method to align the direction of the polarization filter 13.
  • the photographing device 11 is moved to the first photographing position (step S11: first movement step).
  • the drone 100 is taken off to fly to the first imaging position.
  • the first photographing position is the position closest to the water surface W as a photographing position.
  • the movement of the imaging device 11 is performed, for example, by receiving a control signal output from the control terminal by the antenna 109 and controlling the propeller 105.
  • step S12 first photographed image acquiring step. Acquisition of the photographed image is performed by operating the lower shutter drive unit 33 under control of the CPU 40 according to a command from the control terminal or a known automatic control.
  • the imaging device 11 moves from the first imaging position to a second imaging position located in the normal direction of the water surface W (step S13: second moving step).
  • the second imaging position is located in the normal direction of the water surface W from the first imaging position, but the movement path of the imaging device 11 is not particularly limited.
  • the imaging device 11 moves in the shortest distance from the first imaging position to the second imaging position.
  • the second imaging position has a longer distance from the water surface W than the first imaging position. That is, the imaging device 11 moves upward in the normal line 61 direction of the water surface W.
  • step S14 second photographed image acquiring step. Acquisition of the second photographed image is performed while maintaining the set photographing direction.
  • step S15 it is determined whether all photographed images have been acquired.
  • the determination as to whether all captured images have been acquired is made at the discretion of the pilot or automatically.
  • the CPU 40 determines based on the imaging plan.
  • the photographing device 11 is moved to the next second photographing position with the previous photographing position as the first photographing position (step S13). That is, the imaging device 11 moves from the imaging position at which the imaging image is acquired to the imaging position located above the normal direction of the water surface W, and acquires the next imaging image. As described above, the imaging device 11 repeatedly performs scanning and imaging by repeatedly moving to the second imaging position at a position (upward) away from the water surface W in the normal direction of the water surface W.
  • FIG. 10 is a flow chart showing a second embodiment of a photographing method using the photographing device 11.
  • vertical scanning imaging is performed from a position far from the water surface W.
  • the photographing device 11 is moved to the first photographing position (step S20: first movement step).
  • the first photographing position is the position farthest from the water surface W as the photographing position. Therefore, for example, when the drone 100 is used as the moving mechanism, the drone 100 is activated to move the imaging device 11 to the highest imaging position.
  • step S21 imaging direction setting step.
  • the imaging direction can be accurately aligned to correspond to the Brewster's angle with the water surface W.
  • step S22 first captured image acquisition step.
  • the imaging device 11 moves from the first imaging position to a second imaging position located in the normal direction of the water surface W (step S23: second moving step).
  • the second imaging position is located below the normal direction of the water surface W from the first imaging position.
  • the second imaging position has a shorter distance from the water surface W than the first imaging position.
  • step S24 second photographed image acquiring step. Acquisition of the second photographed image is performed while maintaining the set photographing direction.
  • step S25 it is determined whether all captured images have been acquired.
  • the determination as to whether all captured images have been acquired is made at the discretion of the pilot or automatically.
  • the CPU 40 determines based on the imaging plan.
  • the imaging device 11 is moved to the next second imaging position with the previous imaging position as the first imaging position (step S23). That is, the imaging device 11 moves from the imaging position at which the imaging image is acquired to the imaging position located below the normal direction of the water surface W, and acquires the next imaging image. As described above, the imaging device 11 repeatedly performs scanning and imaging by repeatedly moving to the second imaging position at a position (downward) approaching the water surface W in the normal direction of the water surface W.
  • the hardware-like structure of a processing unit (processing unit) that executes various processes is various processors as described below.
  • the circuit configuration can be changed after manufacturing a central processing unit (CPU), an FPGA (field programmable gate array) that is a general-purpose processor that functions as various processing units by executing software (programs) for various processors.
  • Logic circuits Programmable Logic Devices: PLDs
  • ASICs Application Specific Integrated Circuits
  • dedicated electric circuits that are processors with a circuit configuration specifically designed to execute specific processing.
  • One processing unit may be configured by one of these various processors, or may be configured by two or more processors of the same type or different types (for example, a plurality of FPGAs or a combination of a CPU and an FPGA). May be In addition, a plurality of processing units may be configured by one processor. As an example in which a plurality of processing units are configured by one processor, first, one processor is configured by a combination of one or more CPUs and software as represented by computers such as clients and servers. There is a form in which a processor functions as a plurality of processing units.
  • SoC system on chip
  • IC integrated circuit
  • circuitry circuitry
  • Each configuration and function described above can be appropriately realized by arbitrary hardware, software, or a combination of both.
  • a program that causes a computer to execute the above-described processing steps (processing procedure), a computer-readable recording medium (non-transitory recording medium) recording such a program, or a computer on which such a program can be installed It is also possible to apply the present invention.
  • FIG. 11 is a view showing the appearance of a crane type camera movement device which is an example of the movement mechanism.
  • the crane-type camera moving device 130 includes an extendable arm unit 133, and moves the digital camera 10 in the normal direction of the reflection surface by extending and retracting the arm unit 133.
  • the camera connection unit 131 can tilt and / or pan rotate the digital camera 10.
  • the crane-type camera moving device 130 may be configured by a support post on which the extendable arm portion 133 is vertically erected on the ground.
  • FIG. 12 is an external view showing a balloon type camera movement device which is an example of the movement mechanism.
  • the balloon type camera moving device 140 can move the digital camera 10 in the direction of the normal line 61 of the reflection surface by the buoyancy of the balloon portion 141.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention a pour but de fournir un procédé de capture d'image et un programme qui permettent, au moyen d'une capture d'image de balayage ayant une courte distance de mouvement, l'acquisition d'une pluralité d'images capturées dans lesquelles l'effet de lumière réfléchie est supprimé, dans les cas où sont capturées des images d'un objet ayant une surface réfléchissante et une large plage de capture d'image. Ce procédé de capture d'image comprend : une étape consistant à définir la direction de capture d'image (étape S10) d'une unité de capture d'image à l'angle de Brewster par rapport à une surface réfléchissante ; une première étape de déplacement (étape S11) consistant à déplacer un dispositif de capture d'image vers une première position de capture d'image ; une première étape d'acquisition d'image capturée (étape S12) consistant à utiliser l'unité de capture d'image pour acquérir une première image capturée dans la première position de capture d'image ; une seconde étape de déplacement (étape S13) consistant à déplacer le dispositif de capture d'image vers une seconde position de capture d'image positionnée dans une direction normale à partir de la première position de capture d'image ; et une seconde étape d'acquisition d'image capturée (étape S14) qui consiste à utiliser l'unité de capture d'image pour acquérir une seconde image capturée dans la seconde position de capture d'image.
PCT/JP2018/035323 2017-10-02 2018-09-25 Procédé et programme de capture d'image WO2019069741A1 (fr)

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JP2017192644 2017-10-02

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114440836A (zh) * 2022-01-19 2022-05-06 南京市测绘勘察研究院股份有限公司 一种附有玻璃幕墙建筑的无人机摄影测量建模方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014074838A (ja) * 2012-10-05 2014-04-24 Xacti Corp 撮像装置
WO2018092540A1 (fr) * 2016-11-15 2018-05-24 ソニー株式会社 Dispositif de traitement d'image, procédé de traitement d'image et programme

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014074838A (ja) * 2012-10-05 2014-04-24 Xacti Corp 撮像装置
WO2018092540A1 (fr) * 2016-11-15 2018-05-24 ソニー株式会社 Dispositif de traitement d'image, procédé de traitement d'image et programme

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114440836A (zh) * 2022-01-19 2022-05-06 南京市测绘勘察研究院股份有限公司 一种附有玻璃幕墙建筑的无人机摄影测量建模方法
CN114440836B (zh) * 2022-01-19 2023-06-30 南京市测绘勘察研究院股份有限公司 一种附有玻璃幕墙建筑的无人机摄影测量建模方法

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