Abstract: A three-dimensional measurement device includes an image data receiving unit, a camera position selecting unit, a stereoscopic image selecting unit, and a camera position calculator. The image data receiving unit receives data of multiple photographic images. The photographic images are obtained by photographing a measurement target object and a random dot pattern from multiple surrounding viewpoints by use of a camera. The camera position selecting unit selects camera positions from among multiple positions of the camera. The stereoscopic image selecting unit selects the photographic images as stereoscopic images from among the photographic images that are taken from the camera positions selected by the camera position selecting unit. The camera position calculator calculates the camera position from which the stereoscopic images are taken. The selection of the camera positions is performed multiple times in such a manner that at least one different camera position is selected each time.

Abstract: A three-dimensional measurement device includes an image data receiving unit, a camera position selecting unit, a stereoscopic image selecting unit, and a camera position calculator. The image data receiving unit receives data of multiple photographic images. The photographic images are obtained by photographing a measurement target object and a random dot pattern from multiple surrounding viewpoints by use of a camera. The camera position selecting unit selects camera positions from among multiple positions of the camera. The stereoscopic image selecting unit selects the photographic images as stereoscopic images from among the photographic images that are taken from the camera positions selected by the camera position selecting unit. The camera position calculator calculates the camera position from which the stereoscopic images are taken. The selection of the camera positions is performed multiple times in such a manner that at least one different camera position is selected each time.

Abstract: The efficiency of the work for identifying reference points that are included in photographed images is improved. Targets are located and are photographed from short distances, and the positions of the targets are measured. A 3D reference point model is generated by using the measured positions of the targets as apexes. Then, the positions of the targets that are detected from images taken by a UAV from the air are calculated from a three-dimensional model that are generated by the principle of the stereoscopic three-dimensional measurement, whereby a 3D relative model constituted of a TIN is obtained. After a matching relationship between the 3D reference point model and the 3D relative model is identified, the positions of the targets in the 3D relative model are estimated based on the identified matching relationship, and the positions of the reference points in the images taken from the UAV are estimated.

Abstract: A processing for specifying a correspondence relationship of feature points between two sets of optical data can be highly precise and efficiently carried out. The correspondence relationship of the perpendicular edges is obtained based on the assumption that the object is a building, in the processing for integrating the three-dimensional model obtained from the point cloud position data and the three-dimensional model obtained from the stereophotographic image. In this case, one perpendicular edge is defined by the relative position relationship with the other perpendicular edge, and the correspondence relationship is high-precisely and rapidly searched.

Abstract: The efficiency of work for identifying reference points included in photographed images is improved. A survey data processing device includes a data receiving unit 103 that receives data of two still images, an operation information receiving unit 104 that receives a selection of reference points among multiple reference points which are included in both of the two still images and have known location information, an exterior orientation parameter calculating unit 106 that calculates exterior orientation parameters of a camera, a coordinate integrating unit 110 for obtaining an integrated coordinate system for describing both the locations of an unselected reference point and the camera, a back-projected image generating unit 111 for generating a back-projected image by back-projecting the unselected reference point in the integrated coordinate system, and a target position estimating unit 112 that estimates a position of the unselected reference point in a still image.

Abstract: The efficiency of the work for identifying reference points that are included in photographed images is improved. Targets are located and are photographed from short distances, and the positions of the targets are measured. A 3D reference point model is generated by using the measured positions of the targets as apexes. Then, the positions of the targets that are detected from images taken by a UAV from the air are calculated from a three-dimensional model that are generated by the principle of the stereoscopic three-dimensional measurement, whereby a 3D relative model constituted of a TIN is obtained. After a matching relationship between the 3D reference point model and the 3D relative model is identified, the positions of the targets in the 3D relative model are estimated based on the identified matching relationship, and the positions of the reference points in the images taken from the UAV are estimated.

Abstract: The efficiency of work for identifying reference points included in photographed images is improved. A survey data processing device includes a data receiving unit 103 that receives data of two still images, an operation information receiving unit 104 that receives a selection of reference points among multiple reference points which are included in both of the two still images and have known location information, an exterior orientation parameter calculating unit 106 that calculates exterior orientation parameters of a camera, a coordinate integrating unit 110 for obtaining an integrated coordinate system for describing both the locations of an unselected reference point and the camera, a back-projected image generating unit 111 for generating a back-projected image by back-projecting the unselected reference point in the integrated coordinate system, and a target position estimating unit 112 that estimates a position of the unselected reference point in a still image.

Abstract: The device includes a unit obtaining an object's point cloud position data, a unit obtaining the object's image data, a unit in which co-relationship between point cloud position data obtained in the point cloud position data obtaining unit through a primary viewpoint or image data obtained in the image data obtaining unit through the primary viewpoint and image data obtained in the image data obtaining unit through a secondary (different from the primary) viewpoint are identified, a unit forming a three-dimensional model by the data obtained in the point cloud position data obtaining unit, and a unit controlling displaying of the model formed in the model forming unit on a displaying device. The model forming unit forms a three-dimensional model having direction seen from the secondary viewpoint, depending on the co-relationship identified in the co-relationship identifying unit. Operators see the model seen from the secondary viewpoint as an image.

Abstract: A point cloud data processing device extracts features of an object from point cloud data thereof and automatically generates a three-dimensional model in a short time. The device includes a non-plane removing unit for removing points of non-plane areas from the point cloud data, and a plane labeling unit for adding identical labels to points in the same planes other than the points that are removed by the non-plane removing unit so as to segment the point cloud data into planes. The device also includes a three-dimensional edge extracting unit for extracting three-dimensional edges based on at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes. The device further includes a two-dimensional edge extracting unit for extracting two-dimensional edges from within the segmented planes, and an edge integrating unit for integrating the three-dimensional edges and the two-dimensional edges.

Abstract: An image photographing device for three-dimensional measurement sequentially photographs a measuring object in an overlapping manner by a single camera.

Abstract: Three-dimensional coordinates of feature points of an object to be measured are back-projected to a frame image photographed from a specific position, and image coordinates of the back-projected feature points and the feature points in this frame image are compared. In this case, the feature points, which are mismatched, are removed as feature points which are mistracked between plural frames. In this case, two processing systems, of which initial conditions of calculation for obtaining the back-projected coordinates are different from each other, are performed, and the detection of the above mistracked points is performed on each of the two back-projected coordinates. The mistracked points detected in at least one of the processing systems are removed, and are not succeeded to the following processing.

Abstract: A processing for specifying a correspondence relationship of feature points between two sets of optical data can be highly precise and efficiently carried out. The correspondence relationship of the perpendicular edges is obtained based on the assumption that the object is a building, in the processing for integrating the three-dimensional model obtained from the point cloud position data and the three-dimensional model obtained from the stereophotographic image. In this case, one perpendicular edge is defined by the relative position relationship with the other perpendicular edge, and the correspondence relationship is high-precisely and rapidly searched.

Abstract: A technique is provided for efficiently process three-dimensional point cloud position data that are obtained at different viewpoints. A projecting plane is set in a measurement space as a parameter for characterizing a target plane contained in plural planes that form an object. The target plane and other planes are projected on the projecting plane. Then, a distance between each plane and the projecting plane is calculated at each grid point on the projecting plane, and the calculated matrix data is used as a range image that characterizes the target plane. The range image is also formed with respect to the other planes and with respect to planes that are viewed from another viewpoint. The range images of the two viewpoints are compared, and a pair of the planes having the smallest difference between the range images thereof is identified as matching planes between the two viewpoints.

Abstract: A technique is provided for efficiently process three-dimensional point cloud position data that are obtained at different viewpoints. A projecting plane is set in a measurement space as a parameter for characterizing a target plane contained in plural planes that form an object. The target plane and other planes are projected on the projecting plane. Then, a distance between each plane and the projecting plane is calculated at each grid point on the projecting plane, and the calculated matrix data is used as a range image that characterizes the target plane. The range image is also formed with respect to the other planes and with respect to planes that are viewed from another viewpoint. The range images of the two viewpoints are compared, and a pair of the planes having the smallest difference between the range images thereof is identified as matching planes between the two viewpoints.

Abstract: A position measurement method includes an exterior orientation parameter correcting step S11 for correcting exterior orientation parameters calculated in a step S10, based on difference between photographing timing of an image and obtaining timing of a photographing position and/or a photographing posture measured outside, a bundle-adjusting step S12 for simultaneously adjusting a bundle of the exterior orientation parameters of one or more images and three-dimensional coordinates of characteristic points, based on the exterior orientation parameters corrected by the step S11, a three-dimensional coordinate calculating step S13 for calculating three-dimensional coordinates of characteristic points subsequently detected in an area in which the density of the characteristic points is decreased, based on the exterior orientation parameters adjusted bundle thereof, and a repeating step for repeating processing from the steps S10 to S13 until the image becomes a final image.

Abstract: A technique is provided for efficiently process three-dimensional point cloud position data that are obtained at different viewpoints. A projecting plane is set in a measurement space as a parameter for characterizing a target plane contained in plural planes that form an object. The target plane and other planes are projected on the projecting plane. Then, a distance between each plane and the projecting plane is calculated at each grid point on the projecting plane, and the calculated matrix data is used as a range image that characterizes the target plane. The range image is also formed with respect to the other planes and with respect to planes that are viewed from another viewpoint. The range images of the two viewpoints are compared, and a pair of the planes having the smallest difference between the range images thereof is identified as matching planes between the two viewpoints.

Abstract: An edge extraction device can reduce detected noise other than a contour of an article, and can improve the operability. The edge extraction device includes: an edge detection section which calculates edge strength from an image and detects an edge; a labeling processing section which performs labeling processing on the edge detected by the edge detection section and calculates a length of the edge; an edge enhancement processing section which performs edge enhancement processing by using a value corresponding to the length of the edge, which is calculated by the labeling processing section, and the edge strength, which is calculated by the edge detection; and an edge extraction section which performs binarization processing on a value of the image, which is enhanced by the edge enhancement processing section, by using an adjustable threshold value, and extracts a predetermined edge.

Abstract: The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

Abstract: Three-dimensional coordinates of feature points of an object to be measured are back-projected to a frame image photographed from a specific position, and image coordinates of the back-projected feature points and the feature points in this frame image are compared. In this case, the feature points, which are mismatched, are removed as feature points which are mistracked between plural frames. In this case, two processing systems, of which initial conditions of calculation for obtaining the back-projected coordinates are different from each other, are performed, and the detection of the above mistracked points is performed on each of the two back-projected coordinates. The mistracked points detected in at least one of the processing systems are removed, and are not succeeded to the following processing.

Abstract: A measurement processing block obtains a plurality of first images of the object to be measured, taken with very small movements in the imaging area. A feature extraction processing block extracts an approximate feature portion of the object from the first images obtained by the measurement processing block. A partial-image creation processing block creates a plurality of first partial images by grouping the plurality of first images obtained by the measurement processing block in the vicinity of the approximate feature portion extracted by the feature extraction processing block. A super-resolution-image creation processing block creates a super-resolution image from the plurality of first partial images created by the partial-image creation processing block. Thus, detailed features of the object are measured precisely and easily even when the object is located far away.