WO2019098280A1

WO2019098280A1 - System, method, and program for estimating position or change in position of right-angled structure of structure, and storage medium storing program

Info

Publication number: WO2019098280A1
Application number: PCT/JP2018/042302
Authority: WO
Inventors: 琢摩穴原
Original assignee: 国立研究開発法人宇宙航空研究開発機構
Priority date: 2017-11-15
Filing date: 2018-11-15
Publication date: 2019-05-23
Also published as: JP2019090705A

Abstract

A system, method, and program that, for a structure that has a right-angled structure in which a first section that has a horizontal-direction surface or a surface that is inclined at exactly a prescribed angle from the horizontal direction and a second section that has a vertical-direction surface or a surface that is inclined exactly the prescribed angle from the vertical direction form orthogonal surfaces, make it possible to find the position or the change in position of the first section in a first direction that is orthogonal to the horizontal-direction surface or the surface that is inclined exactly the prescribed angle from the horizontal direction, e.g., the height or the change in height of the floating roof of a floating roof tank; and a storage medium that stores the program. The system, method, and program are for estimating the position or the change in position of the right-angled structure of the structure using an SAR intensity image of the structure, without the need to frequently collect a large quantity of high-resolution SAR images, and without the need to create 3D data.

Description

System, method, program, and recording medium recording program for estimating position or amount of change in position of rectangular structure in structure

The present invention relates to a system, a method, a program, and a recording medium for recording a program for estimating the position or the amount of change in position of a rectangular structure in a structure, more specifically, from a horizontal surface or a predetermined horizontal direction. In a structure having a right-angled structure in which a first portion having a surface inclined by an angle and a second portion having a surface inclined by the predetermined angle from the vertical surface or the vertical direction form an orthogonal surface, System, method, program, and program for estimating the position or the amount of change of the position of a first portion in a first direction which is a direction perpendicular to a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction A recording medium on which the

There has been proposed a method of estimating the crude oil stock amount of a floating roof type crude oil tank by a synthetic aperture radar (hereinafter, also referred to as "SAR") (Patent Document 1 below). In this method, 3D data of a tank is created by multi-directional observation from image data using high resolution SAR, and the crude roof stock is determined by calculating the height of the floating roof.

US Patent Application Publication No. 2016/0343124

However, in the above method, it is difficult to collect a large number of high resolution SAR images frequently, that the high resolution SAR is expensive, and it is necessary to create 3D data of the tank by multi-directional observation from image data There is a problem such as

Therefore, the present invention takes as an example the height of the floating roof of the floating roof tank or the amount of change in height without the need to collect a large amount of high resolution SAR images frequently and without the need to create 3D data. A first surface having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction, and a vertical surface or a second portion having a surface inclined by the predetermined angle from the vertical direction are orthogonal surfaces In a structure having a right-angled structure forming the first and second portions in a first direction, which is a direction perpendicular to the horizontal surface or a surface inclined by a predetermined angle from the horizontal direction, It is an object to provide a system, a method, a program, and a recording medium recording the program that can be obtained.

One aspect of the present invention is a structure having a plurality of identical structures in a target area, the first part having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction. And a vertical surface or a structure having a right-angled structure in which a second part having a surface inclined by the predetermined angle from the vertical direction forms an orthogonal surface, the predetermined angle from the horizontal surface or horizontal direction Position variation estimation system for estimating the variation of the position of the first portion in the first direction, which is a direction perpendicular to the inclined plane, and wherein the SAR intensity image including the target region of a plurality of time periods is A superimposed image generation unit that generates superimposed images so that the points at the same position coincide with each other, and a structure that acquires the center of each of the plurality of structures with respect to the superimposed images. Center position take An average image generation unit configured to average the intensities of SAR intensity images of a plurality of time periods and generate an average image, with respect to a SAR intensity image of a desired one of the plurality of structures, In the average image, on the central line which is a straight line in the range direction passing the point where the intensity in the SAR intensity image of one structure is maximum, on the side farther from the synthetic aperture radar than the center of the desired structure A reference point determination unit for determining a reference point which is a point at which the intensity is maximum, and a center line in the SAR intensity image of the structure at a desired time are farther from the synthetic aperture radar than the center of the desired structure. The far-side intensity maximum point, which is the point where the intensity is maximum on the side, is determined, and based on the distance between the point and the reference point, the position of the first part in the first direction. There is provided a system comprising a position change amount calculating unit for obtaining the amount of change.

In the present specification and claims, "horizontal" means a concept including not only perfect horizontal but also substantially horizontal.

According to the present invention having the above configuration, it is possible to use a wide range low resolution observation mode such as inexpensive L-band SAR or ScanSAR mode, so that it is not necessary to collect a large amount of high resolution SAR images frequently. A first part having a horizontal surface exemplified by the height or the amount of change of height of the floating roof of the floating roof tank without a need to create data, or a first portion having a surface inclined by a predetermined angle from the horizontal. A vertical surface or a structure having a right-angled structure in which a second part having a surface inclined by the predetermined angle from the vertical direction forms an orthogonal surface, the horizontal surface or a predetermined angle from the horizontal direction A system, a method, a program, and a recording medium recording the program capable of determining the position or the amount of change of the position of the first portion in the first direction which is a direction perpendicular to the inclined surface is provided. It can be.

It is a perspective view schematic diagram of a floating roof type tank. It is II-II sectional drawing of FIG. FIG. 1 illustrates the principle of a first embodiment of the present invention. It is a figure showing functional composition of a height change amount presumption system concerning a 1st embodiment of the present invention. It is a figure which shows the example of the hardware constitutions of the height change amount estimation system which concerns on the 1st Embodiment of this invention. It is a flow chart of an example of height change amount presumption processing concerning a 1st embodiment of the present invention. It is a flow chart of an example of height change amount presumption processing concerning a 1st embodiment of the present invention. It is a flow chart of an example of height change amount presumption processing concerning a 1st embodiment of the present invention. It is a figure which shows the example of the image of the overlap image and the extracted tank. FIG. 2 illustrates the principle underlying the process for matching tank positions; It is a figure explaining position amendment of an azimuth direction. It is a figure explaining position amendment of a range direction. It is a figure which shows the example of a template image. It is a figure which shows the example of the calculation result of the likelihood with respect to a superimposition image. It is a figure which shows the example of the center of each calculated | required tank. It is a figure which shows intensity distribution on the centerline in the average image of the produced | generated tank. It is a figure which shows the example of a reference point and a search range. It is a figure explaining the relationship between the search of a far side intensity | strength maximum point, and a reference point. It is a figure which shows the principle of the 2nd Embodiment of this invention. It is a figure which shows the function structure of the height change amount estimation system which concerns on the 2nd Embodiment of this invention. It is a flow chart of an example of height change amount presumption processing concerning a 2nd embodiment of the present invention. It is a figure which shows the principle of the 3rd Embodiment of this invention. It is a figure which shows the function structure of the height change amount estimation system which concerns on the 3rd Embodiment of this invention. It is a flow chart of an example of height change amount presumption processing concerning a 3rd embodiment of the present invention. It is a figure which shows the example of the relationship between the measurement value of the height of a floating roof, and the intensity | strength of the far side intensity | strength maximum point in a SAR intensity image. It is a figure which shows the example of the SAR intensity image of the wide area low resolution observation mode of a certain period. It is a figure which shows the example of the superimposition image of the SAR intensity image of the wide area | region low resolution observation mode of several time. It is a figure which shows the example of the SAR intensity image of wide area low resolution observation mode, and the SAR intensity image of high resolution observation mode of a certain tank. It is a flow chart of an example of height change amount presumption processing concerning a 4th embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First Embodiment
First, the principle of the first embodiment of the present invention will be described. A floating roof tank generally used as a crude oil tank will be described as an example. FIG. 1 is a schematic perspective view of a floating roof tank. FIG. 2 is a cross-sectional view taken along the line II-II of FIG. The floating roof tank 1 includes a bottomed cylindrical container portion 2 and a disk-like floating roof 3 in contact with the container portion 2. The crude oil 4 is accommodated in the container unit 2, and the floating roof 3 directly floats on the crude oil 4. Accordingly, the floating roof tank 1 has a right-angled structure in which the angle between the side wall (second portion) of the container portion 2 and the floating roof 3 (first portion) is at right angles. Further, the floating roof 3 moves vertically in the vertical direction by the amount of the crude oil 4 contained in the container unit 2. That is, the height of the floating roof 3 is proportional to the amount of the crude oil 4 contained in the container portion 2.

FIG. 3 is a diagram showing the principle of the first embodiment of the present invention. The SAR intensity image is for displaying on the image the time (distance) until the electromagnetic wave transmitted from the synthetic aperture radar S to the observation target point is reflected from the observation target point and returns. Therefore, when the observation target point has a height, the observation target point is displayed on the side of the synthetic aperture radar S on the SAR intensity image than the actual position. Specifically, it is displayed at the position of the intersection of the circumference and the ground surface, whose radius is the distance from the synthetic aperture radar S to the point to be observed. Referring to FIG. 3, the contact points P and P ′ of the floating roof 3 and the container portion 2 are displayed at positions R and R ′ on the SAR side of the actual positions Q and Q ′.

When the distance from the synthetic aperture radar S to the observation target points (contacts between the floating roof 3 and the container 2) P and P 'is sufficiently large, the line segment SP and the line segment PR, and the line segment S'P' and the line segment P Since 'R' is orthogonal to each other, and the incident angles of the electromagnetic waves can be considered equal, the heights of the observation points P and P '(line segment PQ, size of line segment P'Q') are h, h ', lines Assuming that the size of the minute RQ and the line segment R′Q ′ is d and d ′, the variation h−h ′ of the height of the observation target point is
h−h ′ = d tan θ−d ′ tan θ ′ ≒ (d−d ′) tan θ (1)
Can be asked.

FIG. 4 is a diagram showing a functional configuration of the height change amount estimation system according to the first embodiment of the present invention.

The height change amount estimation system 10 includes a superimposed image generation unit 101, a target area designation unit 103, a position correction unit 105, a template image generation unit 107, a structure center position acquisition unit 109, an average image generation unit 111, and reference point determination. The unit 113 includes a height change amount calculation unit 115 and a crude oil reserve calculation unit 117.

The superposition image generation unit 101 is a superposition image obtained by superimposing SAR intensity images including target regions of a plurality of times input to the superposition image generation unit 101 such that points at the same position coincide with each other. Generate

The target area designation unit 103 designates an analysis target area in the superimposed image.

The position correction unit 105 sets, as a center line, a straight line in the range direction passing through a point at which the intensity is maximum for each of the images of the plurality of structures cut out from the target area in the superimposed image. Move the images of the cut out structures so that they overlap each other, and move the images of the cut out structures relative to each other to a position where the intensity distribution on the center line matches in the range direction Match the position.

The template image generation unit 107 generates a template image by superimposing images of a plurality of cut out structures whose positions are matched with each other.

The structure center position acquisition unit 109 acquires the center position of each of the plurality of structures in the superimposed image. The center position of each structure can be determined by performing template matching using a template image. Moreover, when the position of each structure is already known, you may acquire the value.

The average image generation unit 111 generates an average image by averaging the intensities of the SAR intensity images of a plurality of periods with respect to the SAR intensity image of a desired structure among the plurality of structures.

The reference point determination unit 113 determines that the center position, which is a straight line in the range direction passing through the point at which the intensity in the SAR intensity image of one structure is maximum in the generated average image, than the center position of the desired structure. A reference point at which the intensity is maximum on the side far from the synthetic aperture radar is determined.

The height change amount calculation unit 115 (position change amount calculation unit) has a maximum intensity on the side farther from the synthetic aperture radar than the center position of the desired structure on the center line of the SAR intensity image of the structure at the desired time. Change the height (position in the first direction) of the horizontal portion (first portion) based on the distance between the far-side intensity maximum point and the reference point. Determine the quantity.

The crude oil storage amount calculation unit 117 obtains the amount of change in the crude oil storage amount of each tank by multiplying the calculated amount of change in the height of the roof portion and the bottom area of the crude oil storage tank. Further, the total amount of change in crude oil stock of each tank is determined to determine the amount of change in crude oil stock of the entire crude oil stockpiling base.

FIG. 5 is a diagram showing an example of a hardware configuration of the height change amount estimation system 1 according to the present embodiment. The height change amount estimation system 1 includes a CPU 130a, a RAM 130b, a ROM 130c, an external memory 130d, an input unit 130e, an output unit 130f, and a communication unit 130g. The RAM 130 b, the ROM 130 c, the external memory 130 d, the input unit 130 e, the output unit 130 f, and the communication unit 130 g are connected to the CPU 130 a via the system bus 130 h.

Each part of the height change amount estimation system 1 is realized by using various programs stored in the ROM or the external memory as a resource using the CPU, RAM, ROM, external memory, input part, output part, communication part, etc. Ru.

Based on the above system configuration, an example of height change amount estimation processing of the height change amount estimation system according to the first embodiment of the present invention will be described below with reference to FIGS. 6A to 16 and the like. . In this embodiment, the SAR intensity image of the crude oil storage base in which the tanks described above are installed in a matrix is described as an example.

6A to 6B are flowcharts of an example of the height change amount estimation process according to the first embodiment of the present invention.

First, SAR intensity images of the crude oil storage base 5 at multiple times are input to the superimposed image generation unit 101, and the superimposed image generation unit 101 sets the SAR intensity images of the crude oil storage base 5 at multiple locations in the same position. A superimposed image 500 is generated so that the points coincide with each other (S101). A method of superimposing so that the points at the same position coincide with each other is known in the interference SAR analysis technique and the like, and thus detailed description will be omitted. In the present embodiment, the superposition is performed such that the intensity of each pixel of the superposition image 500 is the minimum value among the intensities of the corresponding pixels of the SAR intensity images at a plurality of times. This makes it possible to reduce noise generated in individual SAR intensity images. An example of the obtained superimposed image is shown in FIG.

Subsequently, the target area designation unit 103 designates an analysis target area 501 in the superimposed image 500 (S103). The designation of the analysis target area may be performed by a human designating the area on the superimposed image 500. For example, when the tank position information is already known, the computer is used based on the position information. It may be performed by In the present embodiment, the crude oil storage base 5 is designated as an analysis target area.

Next, a template image used to obtain the center position of the tank 1 by template matching is generated. First, images of a plurality of appropriate tanks in the analysis target area in the superimposed image 500 are cut out (S105). In this embodiment, although the directions of orthogonal sides are cut out into a square image in which the azimuth direction and the range direction become, the shape of the cut out image is not limited to this, and any suitable shape may be used. Can. The clipping of the image of the tank 1 may be performed by a human designating an area on the superimposed image 500, or, for example, when position information such as the center position of the tank 1 is already known, It may be performed by a computer based on the position information. An example of the cut out image is shown in FIG.

As can be seen from FIG. 7, the positions of the tank A and the tank B are shifted in the clipped image. Therefore, in order to make the positions of the tank A and the tank B coincide with each other, the following processing is performed. Here, the principle used for the processing will be described. Although the example in FIG. 7 emphasizes the positional deviation between the tank A and the tank B for ease of understanding, in practice the positional deviation between the tank A and the tank B is slight.

FIG. 8 is a diagram showing the principle underlying the process for aligning the positions of the tanks. In the synthetic aperture radar, the intensity of the electromagnetic wave reflected from the observation object is higher than the intensity of the electromagnetic wave reflected from the portion of the observation object whose tangent plane is orthogonal to the range direction. . Since the tank 1 of the present embodiment has a cylindrical shape, the intersection points W and Q of the straight line L in the range direction passing through the center position of the tank 1 and the circumference of the bottom surface of the tank on the side wall 2a of the tank 1 As a result, the intensity of the reflected wave from the portion extending in the vertical direction is observed to be larger than the other portions. Therefore, if the straight lines in the range direction passing through the points at which the intensities in each of the images of tank A and tank B become maximum are made to be center lines, move the center lines so that the center lines overlap each other. Matches.

The position correction unit 105 performs the following processing. FIG. 9 is a diagram for explaining position correction in the azimuth direction. First, as shown in FIG. 9, the maximum value of intensity is determined for each image line in the range direction, and the distribution of the intensity maximum value in the azimuth direction is determined (S107). Then, with the image line having the maximum value in the distribution of the intensity maximum in the azimuth direction as the center line, the center lines are moved to overlap with each other (S109). The method of determining the center line is not limited to this, and for example, a point at which the intensity in the image of each tank is maximum may be determined, and a straight line in the range direction passing through the point may be used as the center line.

Subsequently, the positions of the tanks in the range direction are matched. FIG. 10 is a diagram for explaining position correction in the range direction. First, the intensity distribution on the image line of the center line determined for each tank is determined. For example, the intensity distribution of tank A and tank B is as shown in FIG. The images of the tanks are mutually moved to a position where the intensity distribution on the center line of each tank matches. Specifically, the value of convolution is obtained while changing the position of another tank (tank B) with respect to a specific tank (tank A), and the other tank (tank B) is obtained at the position where the value of convolution becomes maximum. ) Is moved (S111). The matching method is not limited to the above based on the value of convolution as described above, and, for example, another tank (tank B) is moved so as to match the position of maximum strength. Any suitable technique can be used.

The template image generation unit 107 superposes the images of the tanks whose positions coincide with each other in this manner, and generates a template image 503 (S113). In the present embodiment, the superposition is performed such that the intensity of each pixel of the template image 503 is the minimum value of the intensities of the corresponding pixels of the images of the plurality of tanks. This makes it possible to reduce the noise generated in the images of the individual tanks. An example of the obtained superimposed image is shown in FIG. The method of superposing the images of the tanks is not limited to this, and, for example, the superimposition is performed so that the intensity of each pixel of the template image 503 is the average value of the intensities of the corresponding pixels of the images of multiple tanks. You may go.

Here, the center position of the template image 503 is on the determined center line in the azimuth direction. On the other hand, since the center position in the range direction has a slight shift between the positions of tank A and tank B as described above, when the center of tank A is designated as an image cut out or as a known position, It may be a designated position of the tank A. Alternatively, the position of the tank A may be reduced by an average of the displacement amount of the position of the tank B (moving amount of the tank B) in the matching of the positions of the plurality of tanks B with respect to the tank A described above.

Subsequently, the structure center position acquisition unit 109 obtains the center position of each tank in the superimposed image 500 by performing template matching using the generated template image 503. The template image used for template matching is not limited to one generated by the above-described method, and may be prepared in advance by an arbitrary method. For example, a person may select an appropriate tank image from the superimposed image 500. Specifically, the value (likelihood) of convolution is obtained while changing the position of the template image 503 with respect to the superimposed image 500 (S115). FIG. 12 is a diagram showing an example of the calculation result of the likelihood for the superimposed image 500. As shown in FIG. For this likelihood, binarization is performed using an appropriate threshold value, and multiple detection points are integrated by morphological processing for the part that became a value of 1 by binarization, and the likelihood is acquired for each integrated point Is determined as the center position of each tank (S117). FIG. 13 is a diagram showing an example of the determined center position of each tank. The central position of each tank may acquire its value if the position of each tank is already known, and further, a template image of that value may be prepared and fine correction may be performed.

Next, for the SAR intensity image of each tank, the average image generation unit 111 averages the intensities of the SAR intensity images of a plurality of times to generate an average image (S119).

FIG. 14 is a diagram showing the intensity distribution on the center line in the average image of the generated tank. The reference point determination unit 113 is a point on the center line of the generated average image of each tank that is a point at which the intensity is maximum on the side farther from the synthetic aperture radar than the center position of each tank obtained in the above step. Find a point (S121).

Then, the height change amount calculation unit 115 is located on the center line of the SAR intensity image of each tank 1 at the far side, which is the point where the intensity is maximum on the side farther from the synthetic aperture radar than the center position of each tank. The intensity maximum point is determined, and based on the distance between the far-side intensity maximum point and the reference point determined above, the amount of change in height of the floating roof 3 is determined. Specifically, first, a search range of the far-side intensity maximum point is set with respect to the reference point. FIG. 15 shows an example of the reference point and the search range. Then, within the search range, the far-side intensity maximum point, which is the point at which the intensity is maximum on the side farther from the synthetic aperture radar than the center position of each tank, is determined (S123). FIG. 16 is a diagram for explaining the relationship between the search for the far-side intensity maximum point and the reference point. Then, the number of pixels from the reference point to the far side intensity maximum point is determined (S125). Since the distance from the reference point to the far-side intensity maximum point is the product of the number of pixels from the reference point to the far-side intensity maximum point and the range resolution per pixel, referring to the above equation (1), the tank of the average image The amount of change in height from the height (reference height) of the floating roof 3 of the
(Variation of height) = (Number of pixels from reference point to far-side intensity maximum point) × (Range resolution per pixel) × tan θ (2)
The variation amount of the height of the floating roof 3 from the reference height is obtained by the equation (2) (S127).

Further, the crude oil storage amount calculation unit 117 obtains the change amount of the storage amount of crude oil of each tank 1 by multiplying the calculated fluctuation amount of the height of the floating roof 3 and the bottom area of each tank 1 (S129). The bottom area of each tank 1 can be acquired by any appropriate method such as using a known value, obtaining an SAR intensity image, or the like. Then, the total amount of change in the amount of crude oil stored in each tank is determined to determine the amount of change in the amount of crude oil stored in the entire crude oil storage base 5 (S131).

According to the present embodiment, the amount of change in the height of the floating roof of the floating roof tank is taken as an example even when using an inexpensive L-band SAR which is extremely difficult to identify and analyze crude oil storage tanks in the as-is observation The amount of change in height of the horizontal portion of the right-angled structure can be determined. Therefore, it is possible to obtain the amount of change in the height of the horizontal portion of the right-angled structure, taking the amount of change in the height of the floating roof of the floating roof tank as an example.

Further, according to the present embodiment, extraction processing of the crude oil storage tank is automated by machine learning processing using time-series data, and estimation processing of the amount of change in height of the floating roof of the extracted crude oil storage tank is also automated. There is.

Second Embodiment
FIG. 17 is a diagram showing the principle of the second embodiment of the present invention. FIG. 18 is a diagram showing a functional configuration of the height estimation system according to the second embodiment of the present invention. FIG. 19 is a flowchart of an example of height change amount estimation processing according to the second embodiment of the present invention. An example of the principle, the height estimation system, and the height estimation process according to the second embodiment of the present invention will be described with reference to FIGS. 17 to 19 and the like. In FIGS. 17 to 19, the portions corresponding to FIGS. 1 to 16 are denoted by the same reference numerals, and the description overlapping with the first embodiment will be omitted. Further, the hardware configuration of the height estimation system according to the second embodiment is the same as that of the first embodiment, and thus the description thereof will be omitted.

First, the principle of the present embodiment will be described. As in the first embodiment, a floating roof tank generally used as a crude oil tank will be described with reference to FIG.

As described in the first embodiment, the floating roof 3 is displayed closer to the synthetic aperture radar S than the actual position on the SAR intensity image. The height (the size of the line segment PQ) h of the observation target point P (the contact point between the floating roof 3 and the container portion 2) is d if the size of the line segment RQ is
h = d tan θ (3)
It can be determined by Since the incident angle θ is known, the height of the floating roof 3 can be obtained if the value of d is known.

On the other hand, as can be seen from FIG. 17, the tank 1 has a height, so that the electromagnetic wave transmitted from the synthetic aperture radar S is not irradiated, and a portion 505 which is a shadow in the SAR intensity image is generated. If the position of the shadow 505a corresponding to directly below the floating roof 3 and the position of the image of the floating roof 3 in the shadow portion 505 are known, the value of d, which is the size of the line segment RQ, is known. (3) The height h of the floating roof 3 can be obtained from (3).

In the present embodiment, the position of the shadow 505a corresponding to the position directly below the floating roof 3 is determined by template matching using the shadow template image 507 corresponding to the shadow 505a, and the position of the image 509 of the floating roof 3 is calculated using the floating roof 3 The height h of the floating roof 3 is obtained by the template matching using the floating roof template image 509 corresponding to the image 509 of FIG.

The height estimation system 20 includes a horizontal part nearest point determination unit 203, a shadow nearest point determination unit 203, a height calculation unit 205, and a crude oil storage amount calculation unit 207.

The horizontal part nearest point determination unit 203 (first part nearest point determination unit) performs template matching on the image of the horizontal part of the SAR intensity image of the structure using the horizontal part template image (first partial template image). The horizontal portion closest point (first portion closest point) which is the closest point to the synthetic aperture radar of the horizontal portion template image at the matching position is performed.

The shadow nearest point determination unit 203 performs template matching using the shadow template image on the shadow image and the peripheral edge image of the structure on the synthetic aperture radar side of the SAR intensity image of the structure, and is most matched The nearest shadow point, which is the point closest to the synthetic aperture radar of the shadow template image at the position, is determined.

The height calculation unit 205 (position calculation unit) obtains the height of the horizontal part (the position of the first part in the first direction) based on the distance between the nearest part of the horizontal part and the nearest point of the shadow.

The crude oil storage amount calculation unit 207 obtains the crude oil storage amount of the crude oil storage tank by multiplying the obtained height of the roof portion and the bottom area of the crude oil storage tank. In addition, the crude oil stockpiling amount of the whole crude oil stockpiling base is obtained by finding the sum of the crude oil stocking amount of each tank.

Based on the above system configuration, an example of height estimation processing of the height estimation system according to the second embodiment of the present invention will be described below.

The horizontal part nearest point determination unit 203 performs template matching on the image of the floating roof 3 of the SAR intensity image 504 of each tank using the floating roof template image 509, and the floating roof template image 509 at the most matched position. A floating roof closest point U, which is the point closest to the synthetic aperture radar S, is determined. Specifically, for the SAR intensity image 504 of each tank 1, the value of convolution is obtained while changing the position of the floating roof template image 511 corresponding to the image 509 of the floating roof 3 created in advance, and convolution is performed. A floating roof nearest point U, which is a point closest to the synthetic aperture radar S of the floating roof template image 511 at a position where the value of the maximum value of the value of.

The shadow nearest point determination unit 203 uses the shadow template image 507 as a template for the image of the shadow portion 505 of the SAR intensity image 504 of each tank and the image of the peripheral portion 506 on the synthetic aperture radar S side of each tank 1. Matching is performed, and the closest shadow point T which is the point closest to the synthetic aperture radar S of the shadow template image 507 at the most matching position is determined. Specifically, a SAR inverse intensity image in which the inverse of the intensity is taken is generated for the SAR intensity image 504 of each tank, and the SAR inverse intensity image corresponds to the image of the shadow portion 505 created in advance. A convolution value is obtained while changing the position of the shadow template image 507 (S203). In addition, by obtaining the convolution value while changing the position of the shadow template image 507 with respect to the SAR intensity image 504 (S205), the intensity of the image of the peripheral portion 506 on the synthetic aperture radar S side of each tank is increased. Evaluate the location. The values of both of the obtained convolutions are comprehensively determined, and the closest shadow point T, which is the point closest to the synthetic aperture radar S of the shadow template image 507 at the most matching position, is determined (S207). The method of generating the SAR inverse intensity image is not limited to the method of taking the inverse of the intensity of the SAR intensity image, and can be generated by any other appropriate method.

Since the size of the line segment UT is equal to the size of the line segment RQ, the height calculation unit 205 calculates the above equation (3) based on the distance between the floating roof nearest point U and the shadow nearest point T obtained in the above step. According to 3), the height of the floating roof 3 is obtained (S209).

Furthermore, the crude oil storage amount calculation unit 207 multiplies the height of the floating roof 3 and the bottom area of each tank to obtain the storage amount of crude oil in each tank (S211). Then, the total amount of crude oil stored in each tank is determined to determine the amount of crude oil stored in the entire crude oil storage base 5 (S213).

According to the present embodiment, even if an inexpensive L-band SAR which is extremely difficult to identify and analyze a crude oil storage tank in the as-is observation, a rectangular structure with a floating roof of the floating roof tank as an example is used. The height of the horizontal part can be determined. Therefore, it is possible to obtain the height of the horizontal portion of the right-angled structure, for example, the height of the floating roof of the floating roof tank, at low cost and without the need to create 3D data.

Third Embodiment
FIG. 20 is a diagram showing the principle of the third embodiment of the present invention. FIG. 21 is a diagram showing a functional configuration of the height estimation system according to the second embodiment of the present invention. FIG. 22 is a flowchart of an example of height change amount estimation processing according to the third embodiment of the present invention. An example of the principle, the height estimation system, and the height estimation process according to the third embodiment of the present invention will be described with reference to FIGS. 20 to 22 and the like. In FIG. 20 to FIG. 22, parts corresponding to FIG. 1 to FIG. 18 will be assigned the same reference numerals and overlapping descriptions with the first and second embodiments will be omitted. Further, the hardware configuration of the height estimation system according to the third embodiment is the same as that of the first embodiment, and thus the description thereof will be omitted.

First, the principle of the third embodiment of the present invention will be described. FIG. 20 is a diagram showing the principle of the third embodiment of the present invention. As in the first and second embodiments, a floating roof tank generally used as a crude oil tank will be described as an example.

The intensity of the reflected wave observed by the synthetic aperture radar is proportional to the radar cross section of the object to be observed. As can be seen from FIG. 20, when the height of the floating roof 3 is small, the radar cross section of the perpendicular structure is large, and when the height of the floating roof 3 is large, the radar cross section of the rectangular structure is small. Therefore, the intensity of the reflected wave observed by the synthetic aperture radar increases when the height of the floating roof 3 is small, and decreases when the height of the floating roof 3 is large.

It is often difficult to formulate the radar cross section of a certain right-angled structure, so the reflected wave is the reflection of the height of the horizontal part and the electromagnetic wave transmitted from the synthetic aperture radar to the right-angled structure by the right-angled structure. From the relationship and the strength of the acquired reflected wave, the height of the horizontal portion can be obtained from the relationship with the strength of the light source by measurement or simulation.

The height estimation system 30 includes a height-reflection intensity relationship acquisition unit 301, a reflected wave intensity acquisition unit 303, a height calculation unit 305, and a crude oil storage amount calculation unit 307.

The height-reflection intensity relationship acquisition unit 301 (position-reflection intensity relationship acquisition unit) transmits the height of the horizontal portion (the position of the first portion in the first direction) and the synthetic aperture radar to the rectangular structure. The electromagnetic wave obtains the relationship with the intensity of the reflected wave reflected by the right-angled structure.

The reflected wave intensity acquisition unit 303 acquires the intensity of the reflected wave formed by the electromagnetic wave transmitted from the synthetic aperture radar to the orthogonal structure and reflected by the orthogonal structure.

The height calculating unit 305 (position calculating unit) is a reflected wave obtained by reflecting the intensity of the acquired reflected wave, the height of the horizontal portion, and the electromagnetic wave transmitted from the synthetic aperture radar to the orthogonal structure by the orthogonal structure. The height of the horizontal part is determined based on the relationship with the strength of the

The crude oil storage amount calculation unit 307 obtains the crude oil storage amount of the crude oil storage tank by multiplying the calculated height of the roof portion and the bottom area of the crude oil storage tank. In addition, the crude oil stockpiling amount of the whole crude oil stockpiling base is obtained by finding the sum of the crude oil stocking amount of each tank.

Based on the above system configuration, an example of height estimation processing of the height estimation system according to the third embodiment of the present invention will be described below.

The height-reflection intensity relationship acquisition unit 301 measures the relationship between the height of the floating roof 3 and the intensity of the reflected wave of the electromagnetic wave transmitted from the synthetic aperture radar to the right-angled structure and reflected by the right-angled structure. Acquired by simulation etc. For example, in the case of actual measurement, the height of the floating roof 3 of each tank 1 of the crude oil storage base 5 is often different from each other, so the measured value of the height of the floating roof 3 of each tank at a certain time is obtained (S301 ). Also, SAR observation is performed at a certain time, and in the same way as in the first embodiment, on the center line in the SAR intensity image of each tank at that time, on the side farther from the synthetic aperture radar than the central position of each tank. The far-side intensity maximum point, which is the point at which the intensity is maximum, is determined, and the intensity of the point is acquired (S303). Then, the relationship between the two is obtained from the measured value of the height of the floating roof 3 of each tank and the intensity of the far-side intensity maximum point in the SAR intensity image (S305). FIG. 23 shows an example of the relationship between the measured height of the floating roof 3 and the intensity of the far-side intensity maximum point in the SAR intensity image. In the present embodiment, the plurality of data required to obtain the relationship between the actual measurement value of the height of the floating roof and the intensity of the far-side intensity maximum point in the SAR intensity image is the floating roof of a plurality of tanks of one period. The measured height and the strength data of the far-side strength maximum point in the SAR strength image were used, but the measured height and SAR strength of the floating roof height of multiple seasons of one tank or multiple seasons of multiple tanks The intensity of the far-side intensity maximum point in the image may be used.

The reflected wave intensity acquisition unit 303 acquires the intensity of the reflected wave resulting from reflection of the electromagnetic wave transmitted from the SAR to the orthogonal structure by the orthogonal structure. Specifically, as in the first embodiment, on the center line of the SAR intensity image of each tank 1, the intensity is maximized on the side farther from the synthetic aperture radar than the center position of each tank 1 The far-side intensity maximum point is determined, and the intensity of the point is acquired (S307).

The height calculation unit 305 determines the strength of the acquired reflected wave, the height of the horizontal portion, and the strength of the reflected wave formed by the electromagnetic wave transmitted from the synthetic aperture radar to the rectangular structure and reflected by the rectangular structure. Determine the height of the horizontal part based on the relationship. Specifically, based on the acquired strength of the far-side strength maximum point of each tank and the relationship between the height of the floating roof 3 of the tank 1 and the strength of the far-side strength maximum point, the height of the floating roof 3 (S309).

Further, the crude oil storage amount calculation unit 307 obtains the crude oil storage amount of each tank by multiplying the height of the floating roof 3 thus obtained and the bottom area of each tank (S311). Then, the total amount of crude oil stored in each tank is determined to determine the amount of crude oil stored in the entire crude oil storage base 5 (S313).

Fourth Embodiment
FIG. 24 is a diagram showing an example of an SAR intensity image of a wide area low resolution observation mode at a certain time. FIG. 25 is a diagram showing an example of a superimposed image of SAR intensity images of wide-range low-resolution observation modes at a plurality of times. FIG. 26 is a diagram showing an example of a SAR intensity image of a wide range low resolution observation mode and a SAR intensity image of a high resolution observation mode of a certain tank. FIG. 27 is a flowchart of an example of height change amount estimation processing according to the fourth embodiment of the present invention. An example of a height estimation system and a height estimation process according to the fourth embodiment of the present invention will be described with reference to FIGS. 24 to 27 and FIG. 8 and the like. In FIG. 27, the portions corresponding to FIG. 22 are assigned the same reference numerals, and the description overlapping the first to third embodiments is omitted. The functional configuration of the height estimation system according to the fourth embodiment is the same as that of the third embodiment, and the hardware configuration of the height estimation system according to the fourth embodiment is the first embodiment. Since it is the same as the above, the explanation is omitted.

In the third embodiment, as in the first embodiment, on the central line in the SAR intensity image of each tank at a certain time, the intensity is maximum on the side farther from the synthetic aperture radar than the central position of each tank The far-side intensity maximum point, which is the point where However, when a wide area low resolution observation mode such as ScanSAR mode is used, as shown in FIG. 26, it is difficult to discriminate the center line clearly because the resolution is low. In this embodiment, when using a wide-area low-resolution observation mode such as ScanSAR mode, the far-side intensity maximum point corresponding point corresponding to the far-side intensity maximum point on the center line is determined, and the intensity of that point is calculated. By acquiring it, the height of the floating roof is obtained. Hereinafter, an example of the height estimation process of the height estimation system according to the fourth embodiment of the present invention will be described.

Similar to the third embodiment, the height-reflection intensity relationship acquisition unit 301 is a reflection of the height of the floating roof 3 and the electromagnetic wave transmitted from the synthetic aperture radar to the right-angled structure by the right-angled structure. The relationship with the strength of the wave is acquired by measurement, simulation or the like. For example, in the case of actual measurement, the height of the floating roof 3 of each tank 1 of the crude oil storage base 5 is often different from each other, so the measured value of the height of the floating roof 3 of each tank at a certain time is obtained (S301 ).

In addition, the SAR intensity image 601 is acquired by the SAR observation of the wide area low resolution observation mode such as ScanSAR mode performed at a certain time (S401).

On the other hand, similarly to the first embodiment, a superimposed image 603 is generated in which the SAR intensity images of the wide-range low-resolution observation mode of the crude oil storage base 5 at multiple times are superimposed so that the points at the same position coincide. (S403). Here, the superposition is performed such that the intensity of each pixel of the superposition image 603 is the minimum value of the intensities of the corresponding pixels of the SAR intensity images of a plurality of times.

Next, a difference image is generated by calculating the difference between the intensity of each pixel of the SAR intensity image at a certain time and the intensity of the corresponding pixel of the superimposed image (S405).

Then, a point at which the difference is maximum is obtained in the difference image of each tank, and the strength of the point is acquired (S407). Here, the point at which this difference is the maximum is the far-side intensity maximum point corresponding point, which is a point corresponding to the far-side intensity maximum point on the center line, which is obtained in the first embodiment. I will explain in detail.

Referring again to FIG. 8, since the tank 1 of the present embodiment has a cylindrical shape, the straight line L in the range direction passing through the center position of the tank 1 and the circle of the bottom of the tank on the side wall 2 a of the tank 1 The intensity of the reflected wave from the portion extending in the vertical direction through the intersection points W and Q with the circumference is observed to be larger than the other portions. The portion extending in the vertical direction is constant, passing through the point of intersection W on the side close to the synthetic aperture radar on the side wall 2a of the tank 1 that reflects the electromagnetic wave transmitted from the synthetic aperture radar. On the other hand, the portion passing through the intersection point Q on the side far from the synthetic aperture radar, which reflects the electromagnetic wave transmitted from the synthetic aperture radar, is the portion of the side wall 2a above the floating roof 3 and varies with time. Is normal. Therefore, in the SAR intensity image of a plurality of times, the intensity of the point corresponding to the intersection point W is constant, and the intensity of the point corresponding to the intersection point Q usually varies. That is, the superimposed image 603 is obtained by superimposing the intensity of each pixel of the superimposed image 603 to the minimum value among the intensities of the corresponding pixels of the SAR intensity images of a plurality of times. Therefore, in the superimposed image 603, the intensity of the point corresponding to the intersection point Q is generally smaller than the intensity of the point corresponding to the intersection point W. Therefore, unless the height of floating roof 3 at a certain time is the same as the minimum value of the height of floating roof 3 corresponding to the SAR intensity image used to generate superimposed image 603, in the difference image, intersection W Since the intensity of the point corresponding to is zero and the intensity of the point corresponding to the intersection point Q is a non-zero value, it is possible to distinguish the point corresponding to the intersection point W and the point corresponding to the intersection point Q A point corresponding to Q is a far-side intensity maximum point corresponding point, which is a point corresponding to the far-side intensity maximum point on the center line, which is determined in the first embodiment.

Next, the relationship between the two is determined from the measured value of the height of the floating roof 3 of each tank and the intensity of the far-side intensity maximum point corresponding point in the SAR intensity image (S409).

Thereafter, the reflected wave intensity relationship acquiring unit 303 acquires the intensity of the reflected wave formed by the electromagnetic wave transmitted from the SAR to the orthogonal structure and being reflected by the orthogonal structure. Specifically, in the same manner as steps S401 to S407 described above, the far-side intensity maximum point corresponding point of each tank is determined, and the intensity of the point is acquired (S411).

The height calculation unit 305 determines the strength of the acquired reflected wave, the height of the horizontal portion, and the strength of the reflected wave formed by the electromagnetic wave transmitted from the synthetic aperture radar to the rectangular structure and reflected by the rectangular structure. Based on the relationship, the height of the horizontal portion is determined. Specifically, the floating roof is based on the acquired strength of the far side strength maximum point corresponding point of each tank and the relationship between the height of the floating roof 3 of the tank 1 and the strength of the far side strength maximum point corresponding point The height of 3 is obtained (S413).

According to the present embodiment, the height of the floating roof of the floating roof tank is taken as an example even when using a wide area low resolution observation mode such as ScanSAR mode where the crude oil storage tank is extremely difficult to identify and analyze in the as-is observation The height of the horizontal part of the right-angled structure can be determined. Therefore, it is possible to obtain the height of the horizontal part of the right-angled structure taking the height of the floating roof of the floating roof tank as an example, without the need to create 3D data.

In the above embodiment, the side wall and the floating roof of the floating roof type tank are illustrated and described as the perpendicular structure to be observed, but it is a matter of course that the present invention can be used for observation of other rectangular structures. . The right-angled structure is not limited to a structure in which a horizontal portion having a horizontal surface and a vertical portion having a vertical surface form an orthogonal surface, and a surface inclined by a predetermined angle from the horizontal direction The first portion and the second portion having a surface inclined at the same angle as the predetermined angle from the vertical direction may form an orthogonal surface.

While the invention has been described with reference to several embodiments for the purpose of illustration, the invention is not limited thereto, but as to the form and details, without departing from the scope and spirit of the invention. It will be apparent to those skilled in the art that various changes and modifications can be made.

DESCRIPTION OF SYMBOLS 1 floating roof type tank 2 container part 2a side wall 3 floating roof 4 crude oil 5 crude oil storage base 10 height variation estimation system 101 superposition image generation part 103 target area designation part 105 position correction part 107 template image generation part 109 structure center Position acquisition unit 111 Average image generation unit 113 Reference point determination unit 115 Height variation calculation unit 117 Crude oil storage amount calculation unit 20 Height estimation system 201 Horizontal part nearest point determination unit 203 Shadow nearest point determination unit 205 Height calculation unit 207 Crude oil stock amount calculation unit 30 Height estimation system 301 Height-reflection intensity relationship acquisition unit 303 Reflected wave intensity acquisition unit 305 Height calculation unit 307 Crude oil stock amount calculation unit 500 Superimposed image 501 Analysis target area 503 Template image 504 Tank SAR intensity image 505 Shadow part 505a A shadow 506 corresponding to the area directly below the floating roof Edge part 507 of the synthetic aperture radar side of the cloud 507 Shadow template image 509 Floating roof image 511 Floating roof template image 601 SAR intensity image 603 of wide area low resolution observation mode of a certain period Superimposed image 605 of wide area low resolution observation mode of a tank SAR intensity image 607 SAR intensity image P, P 'of the high resolution observation mode of a tank, contact point Q of the floating roof and container part, Q' Actual position, intersection point R on the side far from the synthetic aperture radar, R 'Position on the image S Synthetic aperture radar T Shadow nearest point U Floating roof closest point W Intersection near the synthetic aperture radar

Claims

A plurality of structures having the same structure, which are present in the target area, and have a first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction, and a vertical surface or vertical A direction perpendicular to the horizontal surface or a surface inclined at a predetermined angle from the horizontal direction in a structure having a right-angled structure in which a second part having a surface inclined at the predetermined angle from the direction forms an orthogonal surface A position change amount estimation system for estimating a change amount of the position of the first portion in a first direction,
A superimposed image generation unit that generates a superimposed image by superimposing SAR intensity images including target regions of a plurality of times so that points at the same position coincide;
A structure center position acquisition unit for acquiring the center of each of the plurality of structures with respect to the superimposed image;
An average image generation unit configured to average the intensities of SAR intensity images of a plurality of time periods and generate an average image of SAR intensity images of a desired one of the plurality of structures;
In the average image, on the central line which is a straight line in the range direction passing the point where the intensity in the SAR intensity image of one structure is maximum, on the side farther from the synthetic aperture radar than the center of the desired structure A reference point determination unit for determining a reference point which is a point at which the intensity is maximum, and a center line in a SAR intensity image of the structure at a desired time that is farther from the synthetic aperture radar than the center of the desired structure. A position where the far-side intensity maximum point which is the point where the intensity is maximum on the side is determined, and the amount of change of the position of the first portion in the first direction is determined based on the distance between the point Change amount calculation unit,
System including:
The system according to claim 1, wherein the structure center position acquisition unit performs template matching on the superimposed image using a template image to obtain a center of each of the plurality of structures.
For each of the images of the plurality of structures cut out from the target area in the superimposed image, a straight line in the range direction passing through the point where the intensity is maximum is taken as a center line, and the center lines are mutually different in the azimuth direction. The images of the cut out structures are moved so as to overlap, and the images of the cut out structures are moved to each other to a position where the intensity distribution on the center line matches in the range direction. A position correction unit for moving the position to coincide with each other;
A template image generation unit that generates a template image by superimposing images of the plurality of cut out structures whose positions are matched with each other;
The system of claim 2, further comprising:
The template image generation unit is a template image in which the minimum value of the intensity of the pixel at the same position of the images of the plurality of cut out structures whose positions are matched with each other is the intensity of the pixel at the same position. The system of claim 3, generating
The intensity of each pixel of the superimposed image is the minimum value of the intensities of corresponding pixels of the SAR intensity image including the target area, of the plurality of times, according to any one of claims 1 to 4. system.
The structure is a crude oil storage tank including a bottomed cylindrical container portion, and a roof portion movable in the vertical direction according to the amount of crude oil accommodated in contact with the crude oil accommodated in the container portion. The system according to any one of the preceding claims.
The crude oil storage amount calculation unit for determining the amount of change in crude oil storage amount of the crude oil storage tank by multiplying the calculated change amount of the roof portion and the bottom area of the crude oil storage tank The system described in 6.
The image processing apparatus further comprises a target area designation unit that designates the target area in the superimposed image;
The target area designation unit designates a crude oil storage base provided with a plurality of the crude oil storage tanks,
The crude oil storage amount calculation unit calculates the total amount of change in crude oil storage amount of each crude oil storage tank of the crude oil storage base, and determines the amount of change in crude oil storage amount of the entire crude oil storage base. System described.
A first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction and a second portion having a vertical surface or a surface inclined by the predetermined angle from the vertical direction form an orthogonal surface A system for estimating the position of the first portion in a first direction which is a direction perpendicular to the horizontal surface or a surface inclined by a predetermined angle from the horizontal direction in a structure having a right-angled structure, ,
The image of the first portion of the SAR intensity image of the structure is subjected to template matching using the first partial template image, and is closest to the synthetic aperture radar of the first partial template image at the most matching position. A first part nearest point determination unit for obtaining a first part nearest point which is a point;
Template matching is performed using the shadow template image on the shadow image and the image of the peripheral edge of the structure on the synthetic aperture radar side of the SAR intensity image of the structure, and the shadow template image at the most matching position A shadow nearest point determination unit which determines a shadow nearest point which is a point closest to the synthetic aperture radar of
A position calculation unit for determining the position of the first part in the first direction based on the distance between the first part nearest point and the shadow nearest point;
System including:
The structure is a crude oil storage tank including a bottomed cylindrical container portion, and a roof portion movable in the vertical direction according to the amount of crude oil accommodated in contact with the crude oil accommodated in the container portion. The system of claim 9.
The system according to claim 10, further comprising: a crude oil storage amount calculation unit configured to calculate a crude oil storage amount of the crude oil storage tank by multiplying the obtained roof height and the bottom area of the crude oil storage tank.
The image processing apparatus further comprises a target area designation unit that designates the target area in the superimposed image;
The target area designation unit designates a crude oil storage base provided with a plurality of the crude oil storage tanks,
The system according to claim 11, wherein the crude oil storage amount calculation unit calculates a total of the crude oil storage amounts of the crude oil storage tanks of the crude oil storage base and determines the crude oil storage amount of the entire crude oil storage base.
A first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction and a second portion having a vertical surface or a surface inclined by the predetermined angle from the vertical direction form an orthogonal surface A system for estimating the position of a first portion in a first direction, which is a direction perpendicular to the horizontal surface or a surface inclined by a predetermined angle from the horizontal direction, in a structure having a right-angled structure.
A position for acquiring the relationship between the position of the first portion in the first direction and the intensity of the reflected wave that is reflected by the right-angle structure from the electromagnetic wave transmitted from the synthetic aperture radar to the right-angle structure -Reflected wave intensity relation acquisition unit,
A reflected wave intensity acquisition unit that acquires the intensity of a reflected wave that is reflected by the right-angle structure and the electromagnetic wave transmitted from the synthetic aperture radar to the right-angle structure;
Reflection obtained by reflecting the intensity of the acquired reflected wave, the position of the first portion in the first direction, and the electromagnetic wave transmitted from the synthetic aperture radar to the orthogonal structure by the orthogonal structure A position calculation unit for obtaining the position of the first portion in the first direction based on the relationship with the strength of the wave;
System including:
The position-reflected wave intensity relationship acquisition unit
Obtaining a plurality of measurements or calculations of the position of the first part in the first direction,
Acquiring SAR intensity images respectively corresponding to the plurality of measured values or calculated values;
Generating a superimposed image in which the SAR intensity images of the structure at a plurality of times are superimposed so that the points at the same position coincide;
For each of the plurality of measured values or calculated values, the difference between the intensity of each pixel and the intensity of the corresponding pixel of the superimposed image is calculated to generate a difference image
In each of the difference images, a point at which the difference is maximum is determined, and the intensity of the point is acquired as the intensity of the reflected wave,
Points corresponding to points at which the differences in SAR intensity images corresponding to a plurality of measured values or calculated values of the position in the first direction of the first part and the plurality of measured values or calculated values respectively become maximum The relationship between the position of the first portion in the first direction and the intensity of the reflected wave is determined from the intensity of
The reflected wave intensity acquisition unit
Acquire SAR intensity image of the structure,
Calculating the difference between the intensity of each pixel of the SAR intensity image of the structure and the intensity of the corresponding pixel of the superimposed image to generate a difference image;
The system according to claim 13, wherein in the difference image, a point at which the difference is maximized is determined, and the intensity of the point is acquired as the intensity of the reflected wave.
A plurality of structures having the same structure, which are present in the target area, and have a first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction, and a vertical surface or vertical A direction perpendicular to the horizontal surface or a surface inclined at a predetermined angle from the horizontal direction in a structure having a right-angled structure in which a second part having a surface inclined at the predetermined angle from the direction forms an orthogonal surface A method of estimating the amount of change in the position of the first member in the first direction,
Generating a superimposed image in which SAR intensity images including target regions of a plurality of times are superimposed so that points at the same position coincide with each other;
Acquiring the center of each of the plurality of structures with respect to the superimposed image;
Taking an average of the intensities of SAR intensity images of a plurality of time periods and generating an average image of SAR intensity images of desired ones of the plurality of structures, and generating an average image; A point at which the intensity is maximum on the side farther from the synthetic aperture radar than the center of the desired structure on a central line which is a straight line in the range direction passing a point where the intensity in the SAR intensity image of the two structures is maximum. Determining a reference point which is
Determining a far-side intensity maximum point which is a point where the intensity is maximum on the side farther from the synthetic aperture radar than the center of the desired structure on the center line of the SAR intensity image of the structure at the desired time; Determining the amount of change in position of the first portion in the first direction based on the distance between the far-side intensity maximum point and the reference point;
Method including.
A first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction and a second portion having a vertical surface or a surface inclined by the predetermined angle from the vertical direction form an orthogonal surface A method of estimating the position in a first direction which is a direction perpendicular to the horizontal surface or a surface inclined by a predetermined angle from the horizontal direction in a structure having a right-angled structure,
The image of the first portion of the SAR intensity image of the structure is subjected to template matching using the first partial template image, and is closest to the synthetic aperture radar of the first partial template image at the most matching position. Determining a first part nearest point which is a point;
Template matching is performed using the shadow template image on the shadow image and the image of the peripheral edge of the structure on the synthetic aperture radar side of the SAR intensity image of the structure, and the shadow template image at the most matching position Determining the nearest shadow point which is the point closest to the synthetic aperture radar of
Determining the position of the first part in the first direction based on the distance between the first part nearest point and the shadow nearest point;
Method including.
A first portion having a horizontal surface or a surface inclined by a predetermined angle from the horizontal direction and a second portion having a vertical surface or a surface inclined by the predetermined angle from the vertical direction form an orthogonal surface A method of estimating the position in a first direction which is a direction perpendicular to the horizontal surface or a surface inclined by a predetermined angle from the horizontal direction in a structure having a right-angled structure,
Preparing a relationship between the position of the first portion in the first direction and the intensity of the reflected wave that is reflected by the right-angle structure from the electromagnetic wave transmitted from the synthetic aperture radar to the right-angle structure; ,
Acquiring an intensity of a reflected wave which is an electromagnetic wave transmitted from the synthetic aperture radar to the rectangular structure and reflected by the rectangular structure;
Reflection obtained by reflecting the intensity of the acquired reflected wave, the position of the first portion in the first direction, and the electromagnetic wave transmitted from the synthetic aperture radar to the orthogonal structure by the orthogonal structure Determining the height of the horizontal portion based on the relationship with the strength of the wave;
Method including.
Preparing the relationship between the position of the first portion in the first direction and the intensity of the reflected wave;
Obtaining a plurality of measurements or calculations of the position of the first part in the first direction;
Acquiring SAR intensity images respectively corresponding to the plurality of measured values or calculated values;
Generating a superimposed image in which SAR intensity images of the structure at a plurality of times are superimposed so that points at the same position coincide with each other;
Calculating the difference between the intensity of each pixel and the intensity of the corresponding pixel of the superimposed image for each of the SAR intensity images corresponding to the plurality of measured values or calculated values, and generating a difference image;
Obtaining a point at which the difference is maximum in each of the difference images, and acquiring the intensity of the point as the intensity of the reflected wave;
Points corresponding to points at which the differences in SAR intensity images corresponding to a plurality of measured values or calculated values of the position in the first direction of the first part and the plurality of measured values or calculated values respectively become maximum Determining the relationship between the position of the first portion in the first direction and the intensity of the reflected wave from the intensity of
Further include
The step of acquiring the intensity of the reflected wave is
Acquiring a SAR intensity image of the structure;
Calculating the difference between the intensity of each pixel of the SAR intensity image of the structure and the intensity of the corresponding pixel of the superimposed image to generate a difference image;
Obtaining a point at which the difference is maximum in the difference image, and acquiring the intensity of the point as the intensity of the reflected wave;
The method of claim 17 further comprising
A program for causing a computer to execute the method according to any one of claims 15 to 18.
A computer readable recording medium having the program according to claim 19 recorded thereon.