Abstract: A surveying assistance system includes an information display terminal and a surveying device configured to measure a point cloud in a three-dimensional space. The surveying assistance system includes a terminal display unit configured to show a first image of a measurement site captured from a position of the information display terminal and a second image produced from information related to the measurement site, and a surveying assistance unit configured to assist measurement performed by the surveying device, by using the terminal display unit.

Abstract: A surveying information management system using an information display terminal and a surveying device configured to measure a point cloud in a three-dimensional space includes: a surveying information acquisition unit configured to acquire, from the surveying device, the surveying information including point cloud data associated with position information; an area setting unit configured to set a display area for the point cloud; a segment setting unit configured to divide the display area into predetermined unit segments; a point cloud amount calculation unit configured to calculate a point cloud amount in a space of each of the unit segments; and a point cloud amount display unit configured to display, on the information display terminal, information according to the point cloud amount calculated for each of the unit segments of the display area by the point cloud amount calculation unit.

Abstract: [Problem] To obtain high measurement accuracy in aerial photogrammetry while reducing the cost of installing a measurement target. [Solution] According to the present invention, a launching pad for an unmanned aircraft on which a UAV 200 is installed before take off is provided with: a target indication that constitutes a target locating point used for aerial photogrammetry; and position determining units that determine the position of the UAV 200 with respect to the launching pad in a state in which the position of the UAV 200 with respect to the target indication before take off is specified.

Abstract: The invention provides a flying vehicle tracking method, which comprises an optical tracking in which a tracking light is projected to a retro-reflector of a flying vehicle with the retro-reflector, the tracking light is received, and a tracking of the flying vehicle is performed based on a light receiving result, and an image tracking in which an image of the flying vehicle is acquired, the flying vehicle is detected from the image, and the tracking of the flying vehicle is performed based on a detection result, wherein the optical tracking and the image tracking are executed in parallel with each other, and in a case where the flying vehicle cannot be tracked by the optical tracking, the optical tracking is returned based on the detection result of the image tracking.

Abstract: [Problem] To obtain high measurement accuracy in aerial photogrammetry while reducing the cost of installing a measurement target. [Solution] According to the present invention, a launching pad for an unmanned aircraft on which a UAV 200 is installed before take off is provided with: a target indication that constitutes a target locating point used for aerial photogrammetry; and position determining units that determine the position of the UAV 200 with respect to the launching pad in a state in which the position of the UAV 200 with respect to the target indication before take off is specified.

Abstract: A technique is provided to enable reduction in cost relating to installation of orientation targets in aerial photogrammetry. A survey data processing device includes a positioning data receiving unit, a relative orientation unit, an absolute orientation unit, and an adjustment calculation executing unit. The positioning data receiving unit receives positioning data obtained by tracking and positioning a reflective prism of an aerial vehicle by a total station. The aerial vehicle also has a camera. The relative orientation unit calculates relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera. The absolute orientation unit provides a true scale to the relative exterior orientation parameters by absolute orientation using the positioning data and the relative exterior orientation parameters.

Abstract: A technique for making multiple still images, which are photographed by a traveling mobile body, and the traveled route of the photographing correspond to each other, is obtained. A survey data processing device includes an input unit 101, an image processing unit 102, and a synchronous processing unit 103. The input unit 101 is configured to receive image data of multiple still images, which are photographed from a mobile body flying, and receive flight data, in which a flight route of the mobile body is measured. The image processing unit 102 is configured to estimate a flight route of the mobile body based on changes in positions of feature points included in the multiple still images on a screen. The synchronous processing unit 103 is configured to specify a matching relationship between the flight route of the flight data and the estimated flight route.

Abstract: A technique enables intuitive understanding of a directional relationship between a photographed image and a wide area image, such as an electronic map. An image processing device includes a display controlling unit that displays a quadrangular-shaped photographic image, which is photographed from an aerial vehicle, displays a mark indicating a photographing position of the quadrangular-shaped photographic image, on a wide area image, and performs highlight display in accordance with a corresponding relationship between a direction of the quadrangular-shaped photographic image and a direction of the mark.

Abstract: A technique is provided to enable reduction in cost relating to installation of orientation targets in aerial photogrammetry. A survey data processing device includes a positioning data receiving unit, a relative orientation unit, an absolute orientation unit, and an adjustment calculation executing unit. The positioning data receiving unit receives positioning data obtained by tracking and positioning a reflective prism of an aerial vehicle by a total station. The aerial vehicle also has a camera. The relative orientation unit calculates relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera. The absolute orientation unit provides a true scale to the relative exterior orientation parameters by absolute orientation using the positioning data and the relative exterior orientation parameters.

Abstract: A flying vehicle has a retro-reflector, a position measuring instrument has a non-prism measurement function for performing a distance measurement and an angle measurement in non-prism and a prism measurement function for performing the distance measurement and the angle measurement with respect to the retro-reflector, a control device is adapted to have a flight range as set within a flat plane, to prepare an approximate flight plan having a two-dimensional approximate flying route as set within the flight range, to measure the approximate flying route by the non-prism measurement, to calculate a three-dimensional detailed flying route based on the measurement results and the approximate flying route, to prepare a detailed flight plan including the detailed flying route and to control the flying vehicle so as to fly in maintaining a distance between the flying vehicle system and a surface of the object to be measured at a constant value based on the detailed flight plan and a result of the prism measurement.

Abstract: A technique enables intuitive understanding of a directional relationship between a photographed image and a wide area image, such as an electronic map. An image processing device includes a display controlling unit that displays a quadrangular-shaped photographic image, which is photographed from an aerial vehicle, displays a mark indicating a photographing position of the quadrangular-shaped photographic image, on a wide area image, and performs highlight display in accordance with a corresponding relationship between a direction of the quadrangular-shaped photographic image and a direction of the mark.

Abstract: A flying vehicle has a retro-reflector, a position measuring instrument has a non-prism measurement function for performing a distance measurement and an angle measurement in non-prism and a prism measurement function for performing the distance measurement and the angle measurement with respect to the retro-reflector, a control device is adapted to have a flight range as set within a flat plane, to prepare an approximate flight plan having a two-dimensional approximate flying route as set within the flight range, to measure the approximate flying route by the non-prism measurement, to calculate a three-dimensional detailed flying route based on the measurement results and the approximate flying route, to prepare a detailed flight plan including the detailed flying route and to control the flying vehicle so as to fly in maintaining a distance between the flying vehicle system and a surface of the object to be measured at a constant value based on the detailed flight plan and a result of the prism measurement.

Abstract: The invention provides a flying vehicle tracking method, which comprises an optical tracking in which a tracking light is projected to a retro-reflector of a flying vehicle with the retro-reflector, the tracking light is received, and a tracking of the flying vehicle is performed based on a light receiving result, and an image tracking in which an image of the flying vehicle is acquired, the flying vehicle is detected from the image, and the tracking of the flying vehicle is performed based on a detection result, wherein the optical tracking and the image tracking are executed in parallel with each other, and in a case where the flying vehicle cannot be tracked by the optical tracking, the optical tracking is returned based on the detection result of the image tracking.

Abstract: An operation burden in confirming a corresponding relationship between multiple still images and a traveled route is reduced. A survey data processing device includes a storing unit 106 and a UI controlling unit 105. The storing unit 105 stores survey data, in which image data of multiple still images that are photographed from a mobile body while flying is correlated with a flight route of the mobile body. The UI controlling unit 105 displays the flight route and at least one of the multiple still images on a screen. The displayed flight route and the displayed still image are displayed on the same screen at the same time in a condition in which a corresponding relationship between the flight route and the multiple still images is determined, and a moving direction of the mobile body that photographed the displayed still image is indicated in the displayed still image.

Abstract: An operation burden in confirming a corresponding relationship between multiple still images and a traveled route is reduced. A survey data processing device includes a storing unit 106 and a UI controlling unit 105. The storing unit 105 stores survey data, in which image data of multiple still images that are photographed from a mobile body while flying is correlated with a flight route of the mobile body. The UI controlling unit 105 displays the flight route and at least one of the multiple still images on a screen. The displayed flight route and the displayed still image are displayed on the same screen at the same time in a condition in which a corresponding relationship between the flight route and the multiple still images is determined, and a moving direction of the mobile body that photographed the displayed still image is indicated in the displayed still image.

Abstract: A technique for making multiple still images, which are photographed by a traveling mobile body, and the traveled route of the photographing correspond to each other, is obtained. A survey data processing device includes an input unit 101, an image processing unit 102, and a synchronous processing unit 103. The input unit 101 is configured to receive image data of multiple still images, which are photographed from a mobile body flying, and receive flight data, in which a flight route of the mobile body is measured. The image processing unit 102 is configured to estimate a flight route of the mobile body based on changes in positions of feature points included in the multiple still images on a screen. The synchronous processing unit 103 is configured to specify a matching relationship between the flight route of the flight data and the estimated flight route.

Abstract: A measuring instrument comprises an spherical camera (8) for acquiring image data over total circumference, a laser scanner (6, 7) installed integrally with the spherical camera and for acquiring point cloud data of the surroundings, a synchronous control unit (9) for controlling acquisition of data of the spherical camera and the laser scanner, a storage unit (12) for recording the image data and the point cloud data, an absolute scale acquiring means for acquiring an absolute scale for obtaining an absolute position of when images are photographed by the spherical camera, and a control arithmetic unit (10), wherein the control arithmetic unit calculates a 3D model based on the image data, the point cloud data, and the absolute position.

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 measuring instrument comprises an spherical camera (8) for acquiring image data over total circumference, a laser scanner (6, 7) installed integrally with the spherical camera and for acquiring point cloud data of the surroundings, a synchronous control unit (9) for controlling acquisition of data of the spherical camera and the laser scanner, a storage unit (12) for recording the image data and the point cloud data, an absolute scale acquiring means for acquiring an absolute scale for obtaining an absolute position of when images are photographed by the spherical camera, and a control arithmetic unit (10), wherein the control arithmetic unit calculates a 3D model based on the image data, the point cloud data, and the absolute position.

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.