JP3434008B2 - Photogrammetry reference point setting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reference point setting device capable of easily and quickly setting a reference point on a subject in photogrammetry.

[0002]

2. Description of the Related Art In photogrammetry, on a first photographic image and a second photographic image of a subject such as terrain photographed in stereo,
It is necessary to have three or more reference points that are points that can be clearly identified as the same point and that have known three-dimensional coordinates. Therefore, three or more reference points must be set in advance for the subject. Therefore, conventionally, three or more points that can be clearly photographed on the first photographic image and the second photographic image when stereoscopically photographed from the sky on the subject are selected as reference points, and then the respective points on the ground coordinates are selected. The three-dimensional coordinate position of the reference point was measured, and each reference point was provided with a mark that could be distinguished from the reference point on each of the stereoscopically photographed images.

[0003]

However, in order to set the reference point, three or more points which can be clearly photographed on the first photographic image and the second photographic image when stereoscopically photographed on the object, It is selected as a reference point, the three-dimensional coordinate position of each of the reference points in the ground coordinates is measured, and each of the reference points is provided with a mark that can be distinguished from the reference point on each of the stereoscopically photographed images. It has a problem that it is a laborious and complicated work. In addition, when the place to be photogrammetrically surveyed is a lake in the forest, the ground is covered with forests, so when the stereo image is taken from the sky, it is clearly visible on the first and second photo images. It has a problem that it is difficult to find a point that can be photographed. In view of the above circumstances, it is an object of the present invention to provide a reference point setting device that can easily and quickly set a reference point for a subject even when it is difficult to find a point that can be clearly photographed on the ground portion of the subject. I am trying.

[0004]

The first aspect of the present invention has a main body (10a), and the main body (10a) has three or more reference point indicating members (11, 12, 13, 14). 1
5) and the reference point indicating members (11, 12, 13, 1)
4, 15) has a connecting member (16) for setting a relative position of the relative position of the floating position (11, 12, 12b, 13b, 14b, 16a) on the main body (10a). . A second aspect of the present invention is the second aspect of the present invention, wherein the floating means is replaced by the reference point indicating member (11, 1).
2,13,14,15) buoyancy space (11
b, 12b, 13b, 14b). In a third aspect of the present invention, the floating means in the first aspect is configured as a buoyancy space (16a) formed in the connection member (16). The fourth invention of the present invention is the height adjusting means (51, 52, 5) according to the first invention.
3, 54) to the reference point indicating member (11, 12, 1)
(3, 14, 15) are provided so as to be adjustable in installation height. The numbers in parentheses are for convenience of showing the corresponding elements in the drawings, and therefore,
This description is not limited to the description in the drawings.
The same applies to the column of "action" below.

[0005]

With the above-described structure, the first invention of the present invention is that each of the reference point indicating members (11, 12, 13, 14,
Since the relative position of (15) is set in a predetermined positional relationship, the reference point indicating members (X, Y, Z) can be set by appropriately setting the three-dimensional coordinates (X, Y, Z) in the main body (10a). 11, 12, 13, 14, 15) coordinate positions (0, 0, 0), (L, 0, 0), (0, L, 0),
In order to be able to immediately determine (L, L, 0), (L / 2, L / 2, L / √2), the main body (10a) together with the three-dimensional coordinates (X, Y, Z) can be determined. By installing on the subject (1), three or more reference point indicating members (11, 1)
2, 13, 14, 15) are set so that the subject (1) can be set as a known reference point of the three-dimensional coordinate position. Further, the floating means (11b, 12b, 13b, 14b, 16a) provided on the main body (10a) act so that the main body (10a) can be floated on the water. A second aspect of the present invention is the buoyancy space (11b, 12b) in which the floating means is formed within the reference point.
b, 13b, 14b), the main body (10
The reference point setting device (10, 50) of the present invention can be made compact as compared with the case where a floating means such as a float is provided in a). In the third invention of the present invention, the floating means is a buoyant space (16a) formed in the connecting member (16), and thus the reference point setting device of the present invention is the same as the second invention. It acts to make (10, 50) compact. The fourth invention of the present invention is
The height adjusting means (51, 52, 53, 54) acts so that the height of each reference point indicating member (11, 12, 13, 14, 15) can be easily adjusted.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an embodiment of a reference point setting device of the present invention installed on a subject and a photographic image obtained by stereo-photographing the subject. FIG. 2 is an enlarged view showing an embodiment of the reference point setting device of the present invention. FIG. 3 is an enlarged view showing a reference ball of the reference point setting device of FIG. FIG. 4 is a diagram showing another embodiment of the reference point setting device of the present invention.

As shown in FIG. 1, the terrain covered with forests 1c has a subject 1 such as a lake 1a and a small mountain 1b, and the lake 1a has a reference point forming a square pyramid having a square bottom. The setting device 10 is provided so as to be floated on the lake 1a. The reference point setting device 10 has a main body 10a, and as shown in FIG. 2, the main body 10a includes eight round bar-shaped bar members 16 formed into a uniform length and five spherical first bars. The first to fifth reference balls 11 to 15 are provided, and the first to fifth reference balls 11 to 15 are arranged at the five apexes of the quadrangular pyramid. The eight bar members 16 connect the adjacent first to fifth reference balls 11 to 15, respectively, and the intervals between the centers of the adjacent first to fifth reference balls 11 to 15 are all , Are provided at equal intervals L. Further, the bar member 1 is attached to the first to fifth reference balls 11 to 15.
Three to four connection holes 11a to 15a to which 6 can be attached and detached are provided, and the bar member 16 has the connection holes 11a to 15a.
It is detachably connected to a to 15a. In addition, the first to fourth reference balls 11 to 1 located at the respective vertices of the bottom surface of the quadrangular pyramid.
4 includes connection holes 11a to 14 to which the bar member 16 can be attached and detached.
Three a are formed, and four connection holes 15a through which the bar member 16 can be attached and detached are formed in the fifth reference ball 15 located on the top of the quadrangular pyramid. The first to fifth reference balls 11 to 15 are made of a water impermeable material such as synthetic resin.
As shown in FIG. 3, the insides of 15 to 15 are closed spaces 11b, 12b, 13b, 14b, 1 which are closed to the outside.
5b is formed. The first to fourth reference balls 11
The sealed spaces 11b, 12b, 13b, 14b of 14 are
The closed spaces 11b to 14b are formed so that the reference point setting device 10 can be supported on water.

Further, as shown in FIGS. 1 and 2, the three-dimensional coordinates (X, Y, Z) are set in the reference point setting device 10, and the three-dimensional coordinates (X, Y, Z) are set. Origin (0, 0,
0) is located at the center of the first reference ball 11 which is one of the vertices of the bottom surface of the quadrangular pyramid. Three-dimensional coordinates (X,
The X axis of (Y, Z) passes through the center of the second reference ball 12, which is one of the vertices of the bottom surface of the quadrangular pyramid, and the coordinates of the center of the second reference ball 12 are adjacent to each other. The distances between the centers of the fifth reference balls 11 to 15 are all equal to each other, and thus (L, 0, 0).
The Y axis of the three-dimensional coordinates (X, Y, Z) passes through the center of the fourth reference ball 14, which is one of the vertices of the bottom surface of the quadrangular pyramid, and the center of the fourth reference ball 14 The coordinates are (0, L, 0) because the intervals between the centers of the adjacent first to fifth reference balls 11 to 15 are all set to the same interval L. Also, the third reference ball 13
Similarly, the coordinates of the center of are (L, L, 0),
The coordinates of the center of the fifth reference ball 15 located on the top of the quadrangular pyramid are (L / 2, L / 2, L / √2).

Further, in FIG. 1, a lake 1a which is an object 1,
The first and second photographic images Ph1 and Ph2 obtained by stereo-photographing the terrain having the small mountain 1b and the reference point setting device 10 provided on the terrain (on the surface of the lake 1a) are depicted.

Since the reference point setting device 10 and the like have the above-mentioned configuration, when trying to detect the three-dimensional shape of the subject 1 having the lake 1a, the small mountain 1b, etc., as shown in FIG. First to fifth reference balls 11 to 1 of the reference point setting device 10 on the terrain having the subject 1 such as a lake 1a and a small mountain 1b.
5. The bar member 16 is assembled and installed in a quadrangular pyramid shape. At this time, the first to fourth reference balls 11 of the reference point setting device 10
To 14 are formed of a water impermeable material such as synthetic resin, and inside the first to fourth reference balls 11 to 14, as shown in FIG.
3b and 14b are formed. As a result, the reference point setting device 10 can be floated on water. Therefore, the reference point setter 10 can be installed not only on the ground but also on the water, and the degree of freedom of the installation place can be greatly expanded. Therefore, as shown in FIG. 1, when it is difficult to find a point that can be clearly photographed from the sky in the ground part of the subject 1 because the forest 1c covers the ground, the reference point setter 10 is used. It can be installed by floating on the lake 1a with a view in the sky.
It is possible to save the trouble of searching for points that can be clearly photographed from the sky on the ground. When the installation of the reference point setting device 10 is completed, since the three-dimensional coordinates (X, Y, Z) are set in the reference point setting device 10 in advance, the three-dimensional coordinates (X, Y, Z) are set to the subject 1. Three-dimensional coordinates (X, Y, Z)
Can be In addition, the three-dimensional coordinates (X, Y,
Z), the coordinates (0,0,0), (L, 0,) of the centers of the first to fifth reference balls 11 to 15 of the reference point setting device 10 are set.
0), (L, L, 0), (0, L, 0), (L / 2, L
/ 2, L / √2) are known, so that the first to fifth reference balls 11 to 15 can be used as reference points. Therefore, when the subject 1 and the subject 1 together with the camera such as a digital still camera (not shown) are stereo-photographed, the first photographic image Ph1 and the second photographic image Ph2 are obtained.
In the above, the reference points which are the first to fifth reference balls 11 to 15 of the reference point setting device 10 can be detected. Therefore, the three-dimensional shape of the subject 1 in the three-dimensional coordinate (X, Y, Z) space set in the reference point setting device 10 can be detected by a known photogrammetric method. Therefore,
According to the present invention, the first to fifth reference balls 11 to 15, which are known reference points of three-dimensional coordinates, can be set by installing one reference point setter 10. In order to set the points, three or more points which can be clearly photographed on the first photographic image Ph1 and the second photographic image Ph2 when stereoscopically photographed on the object 1 are selected as reference points, and the points on the ground coordinates are set. As compared with the case where the three-dimensional coordinate position of each reference point is measured and a mark that can be distinguished from the reference point on each stereoscopically photographed image is provided at each reference point, the subject 1 is set as a reference point. 1st to 5th reference balls 1
1 to 15 can be set easily and quickly. Further, since the reference point setting device 10 of the present invention can be floated on water, even when it is difficult to find a point on the ground portion of the subject 1 that can be clearly photographed, the first to first reference points of the subject 1 The fifth reference balls 11 to 15 can be set easily and quickly.

The three-dimensional coordinates (X, Y, Z) are ground coordinates (Xr, Yr, Z) including latitude, longitude, altitude, etc.
r), the positional relationship of the subject 1 with respect to the ground coordinates (Xr, Yr, Zr) is not detected. But,
When the three-dimensional shape of the subject 1 is required, there is no reason why photogrammetry must be performed in the ground coordinates (Xr, Yr, Zr). So, if the ground coordinates (Xr,
When it is necessary to detect the positional relationship of the subject 1 with respect to Yr, Zr), the reference point setting device 10 is set to the origin (0, 0, 0, 0, 0, 0) of the three-dimensional coordinates (X, Y, Z) of the reference point setting device 10.
0), that is, the center of the first reference ball 11 at the known point (x0, y0, z0) on the ground coordinates (Xr, Yr, Zr).
The three-dimensional coordinates (X, Y,
Z), that is, a straight line connecting the center of the first reference ball 11 and the center of the second reference ball 12 is provided parallel to the Xr axis, and the three-dimensional coordinates (X, Y, Z) of the reference point setter 10 are provided. ) Y
By providing an axis, that is, a straight line connecting the center of the first reference ball 11 and the center of the fourth reference ball 14 in parallel with the Yr axis, detection and calculation can be easily performed. because,
By installing as described above, ground coordinates (Xr, Y
r, Zr) and the three-dimensional coordinates (X,
This is because the following relational expression holds between Y and Z). Xr = X + x0 Yr = Y + y0 Zr = Z + z0 Therefore, the first to fifth reference balls 11 to 11 which are reference points.
The coordinate position of the center of 15 in the ground coordinates (Xr, Yr, Zr) is (x0, y0, z
0), the second reference ball 12 is (x0 + L, y0, z
0), the third reference ball 13 is (x0 + L, y0 + L, z
0), the fourth reference ball 14 is (x0, y0 + L, z
0), the fifth reference ball 15 is (x0 + L / 2, y0 + L
/ 2, z0 + L / √2). When the reference point setting device 10 is set on the water instead of on the ground, the X-axis and the Y-axis of the three-dimensional coordinates (X, Y, Z) of the reference point setting device 10 are naturally horizontal. , The X-axis and the Y-axis can be easily set parallel to the Xr-axis and the Yr-axis. Also, it is installed on the ground and the ground coordinates (Xr,
In order to detect the positional relationship of the subject 1 with respect to (Yr, Zr), the reference point setting device 50 shown in FIG. 4 is used instead of the reference point setting device 10 in the above-described embodiment. It can be done easily. The reference point setter 50 is one of the first to the reference point setters 10 in the above embodiment.
First to fourth threaded legs 51 to 54 for supporting the first to fourth reference balls 11 to 14 are formed in the lower portion of the fourth reference balls 11 to 14, respectively. The four-screw legs 51 to 54 are disk-shaped ground plates 51a to 54a.
And a screw rod 5 fixedly erected on the ground plates 51a to 54a.
1b to 54b. 1st ~ 4th screw type legs 51 ~
54 is screwed to the lower portions of the first to fourth reference balls 11 to 14 by the screw rods 51b to 54b, and the first to fourth screw legs 51 to 54 are the ground plates 51a to 54a, and therefore the ground plates 51a to 54a. , Screw rods 51b to 54b, screw rod shaft centers CT1 to C
By rotating around T4 in the directions of arrows A and B in FIG. 4, the height positions of the first to fourth reference balls 11 to 14 with respect to the ground plates 51a to 54a are moved and positioned in the directions C and D of FIG. It is provided so that it can be adjusted.
Further, the bar member 16 that connects the first reference ball 11 and the second reference ball 12 of the reference point setting device 50, and the bar member 1 that connects the first reference ball 12 and the fourth reference ball 14 to each other.
6, the bubble tubes 55 and 56 are respectively attached to the bar members 1
It is provided in such a manner that the horizontal positions of 6 and 16 can be detected. Further, at the center line of the bar member 16 that connects the first reference ball 11 and the second reference ball 12, the X axis of the three-dimensional coordinates (X, Y, Z) set in the reference point setting device 50, The Y axis is set on the center line of the bar member 16 that connects the first reference ball 12 and the fourth reference ball 14, so that the first to fourth screws can be seen while looking at both bubble tubes 55, 56. Expression leg 51
By adjusting the height positions of the first to fourth reference balls 11 to 14 by adjusting the heights of 54 to 54, the two bar members 16,
16. Therefore, the X and Y axes can be easily made horizontal. Therefore, as described above, the center of the first reference ball 11 of the reference point setter 50 is set to the ground coordinates (Xr, Yr, Z
r) After installing at the known point (x0, y0, z0) on,
When the X-axis and Y-axis of the three-dimensional coordinates (X, Y, Z) of the reference point setter 50 are provided in parallel with the Xr-axis and Yr-axis which are the horizontal axes of the ground coordinates (Xr, Yr, Zr). Since the X-axis and the Y-axis can be easily made horizontal as described above, the process of setting the X-axis and the Y-axis parallel to the Xr-axis and the Yr-axis can be easily performed.

The reference point setters 10, 50 connect the first to fifth reference balls 11-15 and the bar member 16,
By separating them, they can be easily assembled and disassembled, which makes them easy to carry. In addition, since the reference point setters 10 and 50 have the closed spaces 11b to 14b provided inside the first to fourth reference balls 11 to 14, the reference point setting devices 10 and 50 are different from the case where the floating means such as a float is provided. Bowl 10,
50 can be made compact. Therefore, the reference point setting devices 10 and 50 can be easily carried.

The reference point setters 10 and 5 in the above embodiment
0 is provided in the shape of a quadrangular pyramid in which the intervals between adjacent first to fifth reference balls 11 to 15 are all equal to each other, but it has three or more reference balls, and each reference ball has a predetermined relative distance. Needless to say, it may have any shape such as a regular triangular pyramid as long as it is provided at the position. Further, the reference point setters 10 and 50 in the above-described embodiments are provided with the closed spaces 11b to 14b only in the first to fourth reference balls 11 to 14, and the reference is made by the first to fourth reference balls 11 to 14. Although the point setters 10 and 50 are provided so as to have sufficient buoyancy to support them on the water surface, the closed space 16a is provided inside the bar member 16.
Even if a floating means such as is provided so as to generate a buoyancy sufficient to support the reference point setters 10 and 50 on the water surface, the first to fourth reference balls 11 to 14 and the bar member 16 may be used. The closed spaces 11b to 14b, 16 so as to generate buoyancy sufficient to support the reference point setters 10, 50 on the water surface.
Of course, even if the floating means such as a is provided, the same effects as those in the above-described embodiment can be obtained. Further, inside the first to fourth reference balls 11 to 14 or the bar member 16, buoyancy spaces such as the closed spaces 11b to 14b and 16a are not provided, but the first to fourth reference balls 11 to 14 or the bar member. 1
It goes without saying that a floating means such as a float may be provided outside the unit 6. Also, the first to fifth reference balls 11 to 11
It goes without saying that 15 or the bar member 16 may be formed of a material having a closed space in advance, such as a foam material.

[0014]

As described above, according to the first invention of the present invention, it has a main body 10a, and the main body has three or more first reference balls 11, second reference balls 12, and Three reference balls 13, fourth reference balls 14, fifth reference balls 15, and other reference point indicating members, and connection members such as bar members 16 for setting the relative positions of the reference point indicating members in a predetermined positional relationship. , The main body is provided with enclosed spaces 11b, 12b,
Since the floating means such as 13b, 14b, and 16a are provided, the relative positions of the reference point indicating members are set in a predetermined positional relationship. Therefore, the three-dimensional coordinates (X, Y, Z) is appropriately set in the reference point setters such as the reference point setters 10 and 50 of the present invention, the coordinate positions (0, 0, 0), (L, 0, 0), (0 , L,
0), (L, L, 0), (L / 2, L / 2, L / √2)
The coordinate position of etc. can be decided immediately. Then, the reference point setting device in which the three-dimensional coordinates are set is installed together with the three-dimensional coordinates on a subject such as the subject 1 to be photogrammetrically measured. Then, the three or more reference point indicating members can be set as known reference points of the three-dimensional coordinate positions. Therefore, as in the prior art, for setting the reference points, three or more points that can be clearly photographed on the first photographic image and the second photographic image on the subject are selected as the reference points. Compared with the case where the three-dimensional coordinate position of the reference point in the ground coordinates is measured and a mark that can be distinguished from the reference point on each of the photographic images is provided at each reference point, the reference can be made easily and quickly on the subject. You can set points. Further, since the main body can be floated on the water by the floating means provided on the main body, the reference point setting device may be installed not only on the ground but also on the water. Therefore, the degree of freedom of the installation location can be greatly expanded. Therefore, when it is difficult to find a point that can be clearly photographed from the sky in the ground part of the subject such as when the forest covers the ground, use the reference point setter on the water such as a lake with a view in the sky. Since it can be installed on the ground, it is possible to save the trouble of searching for points that can be clearly photographed from the sky on the ground. Therefore, even when it is difficult to find a point that can be clearly photographed on the ground portion of the subject, the reference point indicating member as the reference point can be easily and quickly set for the subject.
In the second invention of the present invention, the floating means in the first invention is configured as a buoyancy space such as a closed space 11b, 12b, 13b, 14b formed in the reference point indicating member. In addition to the effect shown in the invention, by using the floating means as a buoyancy space formed in the reference point, the reference point of the present invention can be compared with the case where the main body is provided with a floating means such as a float. The setter can be made compact. Therefore, it is possible to easily carry the reference point setting device. In the third invention of the present invention, in addition to the effects shown in the first invention, the floating means in the first invention is configured as a buoyant space such as a closed space 16a formed in the connection member. By using the floating means as a buoyancy space formed in the connection member, the reference point setting device of the present invention can be made compact as in the second invention. Therefore, it is possible to easily carry the reference point setting device. Further, according to a fourth aspect of the present invention, in the first aspect, the height adjusting means such as the first to fourth screw legs 51, 52, 53, 54 are provided in the reference point indicating member. Since the installation height is provided so as to be adjustable, in addition to the effect shown in the first invention, the height adjustment means facilitates the height adjustment of each of the reference point indicating members. I can. Therefore, each of the reference point indicating members is set to a known point on the ground coordinates such as ground coordinates (Xr, Yr, Zr), and each of the reference point indicating members is set as a reference point in photogrammetry, and the object in the ground coordinates is set. 1
When it is desired to detect the three-dimensional coordinate position of a subject such as, it is possible to easily set each of the reference point indicating members to a known point on the ground coordinates.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of a reference point setting device of the present invention installed on a subject and a photographic image of the subject taken in stereo.

FIG. 2 is an enlarged view showing an embodiment of the reference point setting device of the present invention.

FIG. 3 is an enlarged view showing a reference ball of the reference point setting device of FIG.

FIG. 4 is a diagram showing another embodiment of the reference point setting device of the present invention.

[Explanation of symbols]

10a ... Main body 11 ... Reference point indicating member (first reference ball) 12 ... Reference point indicating member (second reference ball) 13 ... Reference point indicating member (third reference ball) 14 ... Reference point indicating member (Fourth reference ball) 15 ... Reference point indicating member (fifth reference ball) 16 ... Connection member (bar member) 11b, 12b, 13b, 14b, 16a ... Floating means (closed space) 51 ... Height Adjusting means (first screw type leg) 52 ... Height adjusting means (second screw type leg) 53 ... Height adjusting means (third screw type leg) 54 ... Height adjusting means (fourth screw type leg) )

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-58-85788 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 15/06 G01C 11/00

Claims (4)

(57) [Claims] 1. A main body, the main body having three or more reference point indicating members and a connecting member for setting relative positions of the respective reference point indicating members in a predetermined positional relationship, the main body comprising: A reference point setter for photogrammetry that is configured by providing a floating means. 2. The reference point setting device for photogrammetry according to claim 1, wherein the floating means is a buoyancy space formed in the reference point indicating member. 3. The reference point setting device for photogrammetry according to claim 1, wherein the floating means is a buoyancy space formed in the connecting member. 4. The reference point setting device for photogrammetry according to claim 1, wherein the height adjusting means is provided so as to adjust the installation height of the reference point indicating member.