WO2021049508A1 - Système d'affichage de dimensions, et procédé d'affichage de dimensions - Google Patents

Système d'affichage de dimensions, et procédé d'affichage de dimensions Download PDF

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Publication number
WO2021049508A1
WO2021049508A1 PCT/JP2020/034039 JP2020034039W WO2021049508A1 WO 2021049508 A1 WO2021049508 A1 WO 2021049508A1 JP 2020034039 W JP2020034039 W JP 2020034039W WO 2021049508 A1 WO2021049508 A1 WO 2021049508A1
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WO
WIPO (PCT)
Prior art keywords
dimension
dimension display
display system
image
arithmetic processing
Prior art date
Application number
PCT/JP2020/034039
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English (en)
Japanese (ja)
Inventor
幸佑 野平
Original Assignee
株式会社Ｌｉｂｅｒａｗａｒｅ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社Ｌｉｂｅｒａｗａｒｅ filed Critical 株式会社Ｌｉｂｅｒａｗａｒｅ
Priority to KR1020227011101A priority Critical patent/KR20220058596A/ko
Publication of WO2021049508A1 publication Critical patent/WO2021049508A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D7/00—Indicating measured values
    • G01D7/002—Indicating measured values giving both analog and numerical indication
    • 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
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • This disclosure relates to a dimension display system and a dimension display method.
  • Patent Document 1 in a place where inspection is difficult by a worker or the like, the inside of the structure is inspected on behalf of the worker or the like by flying and photographing the inside of the structure with a flying object. Is being done.
  • the internal structure is complicated, and it is necessary to fly while checking the places where the flying object can pass, but the operator flies while checking only the image obtained from the image pickup device at the site.
  • the present disclosure has been made in view of such a background, and an object of the present disclosure is to provide a dimension display system and a dimension display method of a photographed image that can identify a place where an air vehicle can pass at the site.
  • the main invention of the present disclosure for solving the above problems is a dimension display system, in which the dimension display system is superimposed on the image with an arithmetic processing unit that performs arithmetic processing on an image acquired from an image pickup device of an air vehicle.
  • the arithmetic processing unit includes a dimensional storage unit that stores dimensional values in either the width direction or the height direction at least at the position of an object located in front of the aircraft body of the flying object, which is indicated by the dimensional display displayed.
  • a dimension display position calculation unit that calculates a position for displaying the dimension display based on at least the frontal distance from the aircraft to the object, the angle of view of the image pickup device, and the dimension value acquired by the sensor of the flying object. Based on the calculated position, the arithmetic processing unit superimposes the dimension display on the image acquired from the imaging device to generate the arithmetically processed image.
  • FIG. 1 It is a figure which shows the structure of the system which concerns on this embodiment. It is a block diagram which shows the hardware configuration of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the hardware composition which concerns on the dimension display of the flying object of FIG. This is an example of a bird's-eye view of the periphery of the flying object 3 according to the present embodiment. It is a figure which shows the display example of the system which concerns on this Embodiment in the situation of FIG. It is a figure which shows the display example of the system which concerns on this Embodiment in the situation of FIG. It is a figure which shows the display example of the system which concerns on this Embodiment in the situation of FIG. It is a figure which shows the display example of the system which concerns on this Embodiment in the situation of FIG.
  • the air vehicle according to the embodiment of the present disclosure has the following configuration.
  • the dimension display system An arithmetic processing unit that arithmetically processes the image acquired from the image pickup device of the flying object, and Dimensional memory that stores in advance either the width direction or the height direction at the position of an object located in front of the aircraft body, which is indicated by the dimension display superimposed on the image and displayed on the user terminal.
  • the arithmetic processing unit calculates a position for displaying the dimension display based on at least the frontal distance from the aircraft to the object, the angle of view of the image pickup device, and the dimension value acquired by the sensor of the flying object.
  • the arithmetic processing unit superimposes the dimension display on the image acquired from the imaging device to generate the arithmetically processed image.
  • [Item 2] The dimension display system according to item 1.
  • the arithmetic processing unit superimposes and displays the frontal distance on the image acquired from the image pickup apparatus.
  • [Item 3] The dimension display system according to item 1 or 2.
  • the arithmetic processing unit superimposes and displays at least one of information about the flying object of the flying object and / or environmental information on the image acquired from the imaging device.
  • [Item 4] The dimension display system according to any one of claims 1 to 3 is provided.
  • this system for displaying a photographed image of an air vehicle according to the embodiment of the present disclosure
  • this system a display system for displaying a photographed image of an air vehicle according to the embodiment of the present disclosure
  • this system has user terminals 1 and 2 and an air vehicle 3.
  • the user terminals 1 and 2 and the aircraft 3 are connected to each other so as to be able to communicate with each other via the network NW.
  • NW The illustrated configuration is an example, and the number and types of user terminals and flying objects are arbitrary.
  • FIG. 2 is a block diagram showing a hardware configuration of the user terminals 1 and 2 of FIG.
  • the user terminals 1 and 2 shown in FIG. 1 include an arithmetic processing unit 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.
  • the arithmetic processing unit 10 is an arithmetic unit that controls the operation of the entire user terminals 1 and 2, controls the transmission and reception of data between each element, and performs information processing and the like necessary for application execution and authentication processing.
  • the arithmetic processing unit 10 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like for the system stored in the storage 12 and expanded in the memory 11.
  • CPU Central Processing Unit
  • the memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). ..
  • the memory 11 is used as a work area or the like of the arithmetic processing unit 10, and also stores a BIOS (Basic Input / Output System) executed when the user terminals 1 and 2 are started, various setting information, and the like.
  • BIOS Basic Input / Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be built in the storage 12.
  • the transmission / reception unit 13 connects the user terminals 1 and 2 to the network NW.
  • the transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the input / output unit 14 is an input device such as a keyboard and a mouse, and an output device such as a display unit 141 (for example, a display).
  • the display unit in the present embodiment is not limited to the display unit 141 provided in the user terminals 1 and 2, but is a display unit of an external display device directly or indirectly connected to the user terminals 1 and 2. May be good.
  • the bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.
  • FIG. 1 illustrates general-purpose computers such as workstations and personal computers, and mobile terminals such as smartphones and tablet PCs as user terminals 1 and 2, but the present invention is not limited to this, and for example, a head-mounted display is shown.
  • a device such as (HMD) that can be operated from a first-person viewpoint may be used, and in this case, the effect of the display system of the present embodiment is further enhanced.
  • FIG. 3 is a block diagram showing a hardware configuration of the flying object 3.
  • the flight controller 31 can have one or more arithmetic processing units such as a programmable processor (for example, a central processing unit (CPU)).
  • a programmable processor for example, a central processing unit (CPU)
  • the flight controller 31 has a memory 311 and can access the memory.
  • Memory 311 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps.
  • the flight controller 31 may include sensors 312 such as an inertial sensor (for example, an acceleration sensor and a gyro sensor), a GPS sensor, and a proximity sensor (for example, LiDAR (Light Detection And Ringing)).
  • sensors 312 such as an inertial sensor (for example, an acceleration sensor and a gyro sensor), a GPS sensor, and a proximity sensor (for example, LiDAR (Light Detection And Ringing)).
  • Memory 311 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the image pickup apparatus 32 / sensors 33 may be directly transmitted and stored in the memory 311.
  • still image / moving image data taken by an imaging device or the like is recorded in an internal memory or an external memory.
  • the flight controller 31 includes a control module (not shown) configured to control the state of the flying object.
  • the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • ESC34 Electric Speed Controller
  • the propulsion mechanism (motor 35, etc.) of the flying object.
  • the propeller 36 is rotated by the motor 35 supplied from the battery 38 to generate lift of the flying object.
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the flight controller 31 communicates with a receiver 37 configured to receive data from one or more external devices (eg, transmitter (propo) 39, terminal, display device, or other remote controller). It is possible.
  • the transmitter 39 can use any suitable communication means such as wired communication or wireless communication.
  • the receiving unit 37 uses one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.
  • LAN local area network
  • WAN wide area network
  • P2P point-to-point
  • the receiving unit 37 can receive one or more of predetermined control data, a user command from a terminal or a remote control, and the like.
  • the sensors 33 include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (for example, LiDAR (Light Detection And Ringing)), or a vision / image sensor (for example, an image pickup device 32).
  • the present embodiment particularly includes a sensor (for example, a laser sensor) for measuring the frontal distance from the body of the flying object 3 to the object in front of the flying object 3.
  • FIG. 4 is a block diagram showing a hardware configuration related to dimension display according to the present embodiment.
  • the dimension display system 4 is provided separately from the configuration shown in FIG. 3 in the flying object 3, for example, and has a storage unit 40, an arithmetic processing unit 42, a transmission unit 44, and a bus 46, via the bus 46.
  • the image pickup device 32 / sensors 33 are electrically connected to each other.
  • the dimension display system 4 is not limited to the form provided in the flying object 3, and is, for example, separately provided in the user terminals 1 and 2, or has a configuration corresponding to the arithmetic processing unit and the storage unit of the user terminals 1 and 2.
  • the image pickup device 32 / sensors 33 of the flying object 3 may be provided. Processing for dimension display is performed by receiving the data from. Further, the storage unit 40 and the arithmetic processing unit 42 may be provided in different devices (for example, the flying object 3, the user terminals 1, 2 and the server).
  • the storage unit 40 includes a front distance storage unit 401 and a dimension storage unit 402.
  • the front distance storage unit 401 stores the front distance from the body of the flying object to the object in front of the flying object acquired from the sensors 33.
  • the dimensional storage unit 402 stores at least the dimensional values in the width direction or the height direction at the position of the object indicated by the dimensional display displayed superimposed on the image acquired from the image pickup device 32.
  • the front distance is stored in the front distance storage unit 401, but the present invention is not limited to this, and the sensors 33 are configured to transmit the front distance to the arithmetic processing unit 42. May be good.
  • the calculation processing unit 42 includes a dimension display position calculation unit 421.
  • the dimension display position calculation unit 421 displays a dimension indicating the dimension value in the width direction or the height direction at the above-mentioned front object position based on at least the front distance, the angle of view of the image pickup device, and the dimension value (both will be described later). Calculate the display position.
  • the calculation method by the dimension display position calculation unit 421 will be described later.
  • the arithmetic processing unit 42 superimposes the dimension display on the image acquired from the image pickup apparatus 32 based on the position calculated by the dimension display position calculation unit 421.
  • the transmitter 44 can use any suitable communication means such as wired communication or wireless communication, for example, local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point.
  • LAN local area network
  • WAN wide area network
  • P2P personal area network
  • telecommunications networks telecommunications networks
  • cloud communications etc.
  • FIG. 5 exemplifies a bird's-eye view of the vicinity of the flying object 3 according to the present embodiment. It should be noted that this bird's-eye view is used in the present specification for explaining the present embodiment, and may not be displayed on the system according to the present embodiment.
  • the flight situation may be, for example, under GPS or outdoors, and the flight purpose is.
  • the flight purpose is.
  • it may be surveying, aerial photography, etc., and may be applied to any situation or purpose in which an air vehicle is generally used.
  • an obstacle is found while the flying object 3 is flying in the aisle, and once it flies horizontally to the left side, it flies forward and passes through a narrow space. It is assumed that.
  • 6 to 8 are display examples by the display unit 141 (for example, a display or the like) of the input / output unit 14 of the display system according to the present embodiment.
  • FIG. 6 it can be confirmed that a columnar obstacle exists on the passage.
  • Two vertical dotted lines are displayed on the display indicating the widthwise dimension (for example, 1.0 m) at the position of the obstacle in front.
  • the width between the two vertical dotted lines indicates the width direction dimension at the position of the obstacle in front.
  • the front distance of the center of the screen (for example, 2.8 m) is displayed, and the remaining battery level (for example, 7.0 V) is displayed.
  • the remaining battery level for example, 7.0 V
  • either or both indications may not be shown, and conversely, information about the other aircraft 3 (eg, battery consumption, flight altitude, flight time, etc.), environmental information (eg, flight time, etc.). , Carbon monoxide concentration, oxygen concentration, etc.) may be further displayed.
  • FIG. 7 is a display example when flying forward after FIG.
  • the frontal distance of the center of the screen is updated (eg, 2.5 m) and the widthwise dimension (eg, 1.0 m) at the position of the front obstacle is shown. Since the flying object 3 is closer to the obstacle than in FIG. 6, the width between the two vertical lines is wider than in FIG.
  • FIG. 8 is a display example when a horizontal flight is made to the left after FIG. 7.
  • the space between the obstacle on the left side and the obstacle in front is shown, the front distance in the center of the screen is not updated (for example, 2.5 m), so the dimension in the width direction at the position of the obstacle in front (For example, 1.0 m) is shown with the same width as in FIG.
  • the dimensional display in the width direction at the position of the narrow space is also displayed as an auxiliary, so that the flying object 3 passes through. It is possible to easily identify possible locations on site.
  • the dimension display position calculation unit 421 As a specific calculation method of the dimension display position calculation unit 421, a method of calculating the positions of two vertical dotted lines indicating a dimension value of 1.0 m by the dimension display position calculation unit 421 of the calculation processing unit 42. An example will be described below.
  • the front distance a of the flying object 3 is acquired by the front distance sensor such as the laser sensor included in the sensors 43, and stored in the front distance storage unit 401.
  • the length b at the front object position corresponding to half of the display image width of the display unit 141 Find a ⁇ tan ⁇ .
  • the length b' b / at the front object position per unit number of pixels.
  • the required number of pixels m is calculated by dividing the value (0.5 m) of half the dimension value by the obtained length b', and the pixels are calculated from the center line of the display unit 141.
  • a vertical dotted line is superimposed and displayed on the image acquired from the image pickup device 32 of the flying object 3 at a position several meters away.
  • this calculation method is only an example, and is not limited to this as long as the above-mentioned vertical dotted line position can be calculated.
  • a table relating to the above calculation method is provided in advance, and the number of pixels corresponding to the front distance in a certain range is provided.
  • m for example, when the front distance is 2.1 to 2.5 m, the number of pixels is m, and when the front distance is 2.6 to 3.0, the number of pixels is m', etc.
  • a known correction method may be used when calculating the vertical dotted line position.
  • the dimensional value in the width direction is displayed, but the present invention is not limited to this.
  • the dimensional display position is calculated based on the pixels in the height direction, and the dimensional display in the height direction is superimposed. You may.
  • FIG. 9 illustrates a side view of the periphery of the flying object 3 according to the present embodiment in a situation different from that of FIG. It should be noted that this side view is used in the present specification for explaining the present embodiment, and may not be displayed on the system according to the present embodiment.
  • the flight situation may be, for example, under GPS or outdoors, and the flight purpose is.
  • the flight purpose may be surveying, aerial photography, etc., and may be applied to any situation or purpose in which an air vehicle is generally used.
  • the flying object 3 becomes a dead end when flying in the aisle, climbs along the aisle, and then flies forward and passes through a narrow space. It is assumed that.
  • 10 to 11 are other display examples by the display unit 141 (for example, a display or the like) of the input / output unit 14 of the display system according to the present embodiment.
  • the display unit 141 for example, a display or the like
  • the passage is rising along the wall surface.
  • Two vertical dotted lines are displayed on the display indicating the widthwise dimension (for example, 1.0 m) at the position of the front wall.
  • the distance to the front wall is 2.0 m.
  • FIG. 11 a narrow space appeared while climbing the passage along the wall surface.
  • Two vertical dotted lines indicating the width direction dimension (for example, 1.0 m) at the position of the front wall are displayed on the display, and the width of the narrow space and the dimension display can be visually compared. Therefore, it can be determined that the vehicle can pass through a narrow space by moving horizontally to the right.
  • the dimensional display in the width direction at the position of the narrow space is also displayed as an auxiliary, so that the flying object 3 passes through. It is possible to easily identify possible locations on site.
  • the dimensions in the width direction or the height direction at the position of the front object are calculated by acquiring the front distance by the sensors 33 of the flying object 3, but the present invention is not limited to this, for example.
  • the flying object 3 can be provided. It is also possible to calculate and display the dimensions in the width direction or the height direction at the position of the object closest to the aircraft in the image to be captured.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Processing Or Creating Images (AREA)

Abstract

L'objectif de la présente invention est de fournir un système d'affichage pour des images capturées avec lesquels il est possible d'identifier, sur site, un endroit à travers lequel un aéronef peut passer. Le système d'affichage selon la présente invention est un système d'affichage des dimensions doté d'une unité de traitement arithmétique qui soumet une vidéo acquise à partir d'un dispositif de capture d'images d'un aéronef à un traitement arithmétique, et une unité de stockage des dimensions qui stocke, à l'avance, au moins une valeur dimensionnelle dans le sens de la largeur ou de la hauteur de l'aéronef à la position d'un objet placé devant le fuselage, comme indiqué par un affichage des dimensions qui est affiché sur un terminal utilisateur, superposé à la vidéo, dans lequel l'unité de traitement arithmétique est en outre munie d'une unité de calcul de la position de l'affichage des dimensions qui calcule la position dans laquelle l'affichage des dimensions doit être affiché, sur la base, au moins, d'une distance de surface avant du fuselage à l'objet, et de l'angle de vue du dispositif de capture d'image, acquis au moyen d'un capteur de l'avion, et de la valeur dimensionnelle, et l'unité de traitement arithmétique génère la vidéo, soumise à un traitement arithmétique, en superposant l'affichage des dimensions à la vidéo acquise à partir du dispositif de capture d'image, sur la base de la position calculée.
PCT/JP2020/034039 2019-09-11 2020-09-09 Système d'affichage de dimensions, et procédé d'affichage de dimensions WO2021049508A1 (fr)

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KR1020227011101A KR20220058596A (ko) 2019-09-11 2020-09-09 치수 표시 시스템 및 치수 표시 방법

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JP2019165084A JP6604681B1 (ja) 2019-09-11 2019-09-11 寸法表示システムおよび寸法表示方法
JP2019-165084 2019-09-11

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JP2003244501A (ja) * 2002-02-13 2003-08-29 Fuji Photo Film Co Ltd 電子カメラ
JP2005142938A (ja) * 2003-11-07 2005-06-02 Casio Comput Co Ltd 電子カメラ、制御プログラム
JP2009015730A (ja) * 2007-07-06 2009-01-22 Location View:Kk 立体メジャー表示機能付き画像表示システム及び立体メジャー表示機能付き画像表示のプログラム
JP2017175517A (ja) * 2016-03-25 2017-09-28 オリンパス株式会社 撮像装置および撮像方法
JP2018007051A (ja) * 2016-07-04 2018-01-11 オリンパス株式会社 撮影機器、移動撮影装置、撮影用移動体及び移動体用撮影制御装置
JP2018189536A (ja) * 2017-05-09 2018-11-29 浄真 清水 画像処理装置、実寸法表示方法、及び実寸法表示処理プログラム
JP2019142714A (ja) * 2018-02-23 2019-08-29 コニカミノルタ株式会社 フォークリフト用の画像処理装置

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Publication number Priority date Publication date Assignee Title
JP6486024B2 (ja) 2014-07-02 2019-03-20 三菱重工業株式会社 構造物の屋内監視システム及び方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003244501A (ja) * 2002-02-13 2003-08-29 Fuji Photo Film Co Ltd 電子カメラ
JP2005142938A (ja) * 2003-11-07 2005-06-02 Casio Comput Co Ltd 電子カメラ、制御プログラム
JP2009015730A (ja) * 2007-07-06 2009-01-22 Location View:Kk 立体メジャー表示機能付き画像表示システム及び立体メジャー表示機能付き画像表示のプログラム
JP2017175517A (ja) * 2016-03-25 2017-09-28 オリンパス株式会社 撮像装置および撮像方法
JP2018007051A (ja) * 2016-07-04 2018-01-11 オリンパス株式会社 撮影機器、移動撮影装置、撮影用移動体及び移動体用撮影制御装置
JP2018189536A (ja) * 2017-05-09 2018-11-29 浄真 清水 画像処理装置、実寸法表示方法、及び実寸法表示処理プログラム
JP2019142714A (ja) * 2018-02-23 2019-08-29 コニカミノルタ株式会社 フォークリフト用の画像処理装置

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