JP4335594B2 - Surveying system and optimum image selection method - Google Patents

Description

すなわち、メリット関数Φ_jは、各測点Ｐ_iの画像ｊ上の実際の画像座標（Ｘ_ji，Ｙ_ji）と、画像ｊが視準原点Ｏ_S（０，０，０）において傾き（α_Gj，β_Gj，γ_Gj）で撮影されたと仮定したときに共線条件から算出される近似的な画像座標（Ｘ_Gji，Ｙ_Gji）との間のズレの大きさ表わす。
【００２６】
ステップＳ２０８では、ステップＳ２０６〜ステップＳ２０９の繰り返し処理において、メリット関数Φ_jが前回の値に対して変化しているか否かが判定される。例えば前回の処理におけるメリット関数の値がΦ_j ⁰であり、今回の処理での値がΦ_j ¹であるとするとき、｜Φ_j ¹−Φ_j ⁰｜の値が所定値以上であるか否かが判定される。
【００２７】
｜Φ_j ¹−Φ_j ⁰｜Φ≧所定値であると判定された場合には、ステップＳ２０９において近似的に与えられた傾き（α_Gj，β_Gj，γ_Gj）に対する補正量（δα，δβ，δγ）が例えば最小二乗法により求められる。すなわち共線条件を近似値である（α_Gj，β_Gj，γ_Gj）の周りにテイラー展開し高次の項を省いて線形化し、補正量（δα，δβ，δγ）を未知量とする正規方程式を作成することにより適正な補正量（δα，δβ，δγ）が求められる。また、ステップＳ２０９では、算出された補正量（δα，δβ，δγ）に基づいて近似値である傾き（α_Gj，β_Gj，γ_Gj）の値が、それぞれ（α_Gj＋δα，β_Gj＋δβ，γ_Gj＋δγ）に更新される。その後処理はステップＳ２０６に戻り、ステップＳ２０８において｜Φ_j ¹−Φ_j ⁰｜Φ＜所定値と判定されるまで、ステップＳ２０６〜ステップＳ２０９の処理が繰り返される。ステップＳ２０８において｜Φ_j ¹−Φ_j ⁰｜Φ＜所定値と判定されると、処理はステップＳ２１０に進む。
【００２８】
ステップＳ２１０では、ステップＳ２０６〜ステップＳ２０９の繰り返し処理において、最後に求められたメリット関数Φ_jの値、及び最後の（α_Gj，β_Gj，γ_Gj）の値がＣＰＵ４１の記憶領域に格納される。ステップＳ２１１では、ｊ＝Ｊ（＝９）であるか否かが判定される。すなわち、画像１〜画像９全てに対してメリット関数Φ_jの値が算出されたか否かが判定される。ｊ＝Ｊでない、すなわちｊ＜Ｊ、と判定されるとステップＳ２１２においてパラメータｊの値が１インクリメントされ、処理はステップＳ２０４に戻る。
【００２９】
一方、ステップＳ２１１においてｊ＝Ｊと判定されると、ステップＳ２１３において画像ｊ（ｊ＝２，３，・・・，９）のうち、メリット関数Φ_jが最小となる画像が選別され、そのときの画像番号ｊと傾き（α_Gj，β_Gj，γ_Gj）が例えば記録媒体４２等に記録される。すなわち、メリット関数Φ_jが最小となる画像は、画像１〜画像９のうちで、電子セオドライト１０の視準原点Ｏ_Sに最も近い位置から撮影された画像である。以上により本実施形態の最適画像選別処理は終了する。なお、上記説明では、カメラ位置を水平面上の９点（位置▲１▼〜▲９▼）としたが、カメラ位置は、これらの位置に限定されるものではないことは言うまでもない。例えば平面上の縦３点、横３点（合計９点）に、上下３点を加え、合計２７点に対応する位置で撮影を行ってもよい。
【００３０】
次にステップＳ２０６における近似的な画像座標（Ｘ_Gji，Ｙ_Gji）の算出方法について説明する。
【００３１】
機械座標系の３次元座標（ｘ，ｙ，ｚ）は、カメラ座標系の原点が（ｘ₀，ｙ₀，ｚ₀）にあり、カメラ座標系がｘ軸、ｙ軸、ｚ軸周りに（α、β、γ）回転されているとき、次の（２）式によりカメラ座標系の３次元座標（ｃｘ，ｃｙ，ｃｚ）に変換される。
【数２】

ここで行列｛Ｔ_jk｝は回転行列であり、各成分Ｔ_jkは例えば次式で表される。
Ｔ₁₁＝ｃｏｓβ・ｃｏｓγ
Ｔ₁₂＝ｃｏｓα・ｓｉｎγ＋ｓｉｎα・ｓｉｎβ・ｃｏｓγ
Ｔ₁₃＝ｓｉｎα・ｓｉｎγ−ｃｏｓα・ｓｉｎβ・ｃｏｓγ
Ｔ₂₁＝−ｃｏｓβ・ｓｉｎγ
Ｔ₂₂＝ｃｏｓα・ｃｏｓγ−ｓｉｎα・ｓｉｎβ・ｓｉｎγ
Ｔ₂₃＝ｓｉｎα・ｃｏｓγ＋ｃｏｓα・ｓｉｎβ・ｓｉｎγ
Ｔ₃₁＝ｓｉｎβ
Ｔ₃₂＝−ｓｉｎα・ｃｏｓβ
Ｔ₃₃＝ｃｏｓα・ｃｏｓβ
【００３２】
また、カメラ座標系の原点をカメラの投影中心に一致させ、ｃｘ軸、ｃｙ軸をデジタルスチルカメラ２０の撮像素子の水平、垂直ラインに平行にし、ｃｚ軸を撮像面に垂直で、投影中心から像面の方向に向けて定義すると、カメラ座標系での３次元座標（ｃｘ、ｃｙ、ｃｚ）は、共線条件である次の（３）式により、撮像面上の２次元のスクリーン座標（ｓ、ｔ）に投影される。
【数３】

なお、スクリーン座標系は主点を原点とした撮像面上の２次元座標系であり、ｓ軸は撮像素子２１の水平ライン方向に、ｔ軸は垂直ライン方向に対応する。また、ここでｆは画面距離である。
【００３３】
（３）式ので得られるスクリーン座標（ｓ，ｔ）は、デジタルスチルカメラ２０の光学系のディスト−ション等による共線条件からのズレを考慮していない。補正されたスクリーン座標（ｓｃ、ｔｃ）は、次の（４）式により求められる。
【数４】

ここで、Ｄ₂、Ｄ₄、Ｄ₆はそれぞれディストーション２次成分、４次成分、６次成分であり、Ｎ₁、Ｎ₂はディストーション非対称成分、Ｘ_C、Ｙ_Cは主点の画像中心からのｓ軸方向、ｔ軸方向への偏心量である。
【００３４】
画像座標（Ｘ，Ｙ）は、次の（５）式に補正されたスクリーン座標（ｓｃ，ｔｃ）を代入することにより求められる。
【数５】

ここで、Ｐｘ、ＰｙはそれぞれＣＣＤの水平、垂直方向の画素ピッチであり、Ｗ、Ｈはそれぞれ画像の水平、垂直方向のピクセル数である。
【００３５】
以上の（２）式〜（５）式の変換により機械座標系の３次元座標は画像座標へ変換することができる。したがって、ステップＳ２０６において、（２）式にカメラ位置（０，０，０）、傾き（α_Gj，β_Gj，γ_Gj）、３次元座標（ｘ_i，ｙ_i，ｚ_i）を代入することにより、画像ｊにおける測点Ｐ_iに対応する近似的な画像座標（Ｘ_Gji，Ｙ_Gji）が算出される。
【００３６】
次に、本実施形態におけるカメラのセオドライト設置台への装置方法及び、カメラ位置の調整方法について図６〜図９を参照して説明する。
【００３７】
図６は、電子セオドライト１０が三脚５０に取り付けられた状態が示されている。電子セオドライト１０は、視準望遠鏡１７を俯仰自在に支持するセオドライト本体１００と、水平目盛盤を備える水平目盛部１０１と、整準台１０２と、三脚５０に取り付けられる底板１０３とから概ねなる。本実施形態の電子セオドライト１０の本体及び水平目盛部１０１は、一体的に構成され、整準台１０２に着脱自在である。すなわち、本実施形態では、整準台１０２がセオドライト設置台としての機能を果たす。
【００３８】
図７は、本実施形態のカメラ装着装置の斜視図であり、図８は正面図、図９は図８のＡ−Ａ断面図である。
【００３９】
デジタルスチルカメラ２０は、カメラ装着装置２００を介して三脚５０に取り付けられたセオドライト設置台（整準台）１０２に装着される。セオドライト設置台１０２には、水平目盛り部１０１の代わりに円筒形の基台部２０１が取り付けられる。基台部２０１の底面には例えば３個の突起２０２が設けられており、突起２０２は、セオドライト設置台１０２の対応する窪みに嵌入され、基台部２０１をセオドライト設置台１０２に固定する。
【００４０】
基台部２０１の上面には、細長い扁平の板をコの字型に成形した水平回動部２０３が配置される。コの字型の水平回動部２０３は口の開いた方を上方に向け、基台部２０１の略中央にその中心が配置される。水平回動部２０３の基台部２０１の中央部に対応する位置には、回転軸部材２０４が貫入される軸穴２０３ｈが形成されている。また、これに対応して基台部２０１の中央には、底面から上面に達する軸穴２０１ｈが形成されている。軸穴２０３ｈ及び軸穴２０１ｈには回転軸部材２０４が貫入されてナット２０４ｎ等で固定される。これにより、水平回動部２０３は基台部２０１に対して鉛直軸Ｌp’周りに回動自在に保持される。
【００４１】
水平回動部２０３の内側には、水平回動部２０３と略同じ幅を持つが、水平回動部２０３よりも一回り小さいコの字型の俯仰部２０５が所定の間隔を隔てて配置される。水平回動部２０３及び俯仰部２０５の両者は、互いに左右の上端部において係合される。すなわち、水平回動部２０３と俯仰部２０５の両上端部にはそれぞれ回転軸部材２０６ａ、２０６ｂを挿通するための軸穴がそれぞれ設けられている。回転軸部材２０６ａは、水平回動部２０３と俯仰部２０５の正面図（図８）において右側の上端に設けられたそれぞれの軸穴にスペ−サ−２０６Ｃを介して回転自在に挿通される。一方、回転軸部材２０６ｂは、左側の上端に設けられたそれぞれの軸穴にスペ−サ−２０６Ｃを介して回転自在に挿通される。回転軸部材２０６ａ、２０６ｂは同軸Ｌh’上に配置され、軸Ｌh’は基台部２０１の中心を通る鉛直軸Ｌp’と直交する。すなわち俯仰部２０５は水平回動部２０３により、水平軸Ｌh’周りに回動自在に保持され、これによりカメラの俯仰動作が実現される。また、回転軸部材２０６ａの端部には、俯仰操作の固定を行うための摘み部２０７が取り付けられている。なお、水平軸Ｌh’と鉛直軸Ｌp’との交点は電子セオドライト１０が取り付けられたときの視準原点Ｏ_Sの位置に略対応する。
【００４２】
俯仰部２０５の横方向に延在する底板中央には、円柱部材２０８が底板に垂直に設けられる。すなわち、円柱部材２０８は、俯仰部２０５の両側板に平行に底板中央に取り付けられている。また、円柱部材２０８の上端側は、円管部材２０９に嵌入され、円管部材２０９は、円柱部材２０８に対して摺動自在である。円管部材２０９の位置は、円管部材２０９の下端よりに設けられた上下固定摘み部２０９ｄにより固定される。すなわち、円管部材２０９の下端よりには、円管の内側と外側を連通する穿孔が穿設されており、この穿孔には上下固定摘み部２０９ｄの雄ネジと螺合する雌ネジが穿刻されている。円管部材２０９の上下方向の運動は、上下固定摘み部２０９ｄを回転し、雄ネジを円管部材２０９の内の円柱部材２０８の側面に押し付けることにより規制される。なお、円筒部材２０８の側面には目盛２０８ｍが描かれており、作業者は目盛２０８ｍを参照して円管部材２０９の俯仰部２０５からの距離を知ることができる。
【００４３】
円管部材２０９の上部には、雲台部２１０が設けられている。雲台部２１０は、下から固定部２１１、左右移動部２１２、前後移動部２１３の３層構造をなす。固定部２１１は円管部材２０９に固着されており、固定部２１１は、水平面が正方形の扁平な直方体形状を略呈する。固定部２１１の上面には水平軸Ｌh’方向に沿った蟻ほぞ形状のキー溝が形成されている。左右移動部２１２も固定部２１１と略同型の直方体形状を呈し、その底面には、上記固定部２１１の上面に形成されたキー溝と噛合う蟻ほぞ形状のキーが形成されている。すなわち、左右移動部２１２は、固定部２１１に対して水平軸Ｌh’方向に摺動自在である。また、固定部２１１の正面側の側面中央には、固定部２１１の上面に形成されたキー溝に達する穿孔が設けられており、この穿孔には、左右調整摘み部２１１ｄが取り付けられている。すなわち、左右調整摘み部２１１ｄを回転させることにより左右移動部２１２を固定部２１１に対して左右方向（水平軸Ｌh’に沿って）に移動することができる。なお、固定部２１１、左右移動部２１２には、固定部２１１に対する左右移動部２１２の移動量を示す目盛２１１ｍが描かれている。
【００４４】
一方、左右移動部２１２の上面には水平軸Ｌh’と直交する方向に沿って、蟻ほぞ形状のキー溝が形成されており、左右移動部２１２と略同型の直方体形状を呈した前後移動部２１３の底面には、左右移動部２１２の上面に設けられたキー溝と噛合う蟻ほぞ形状のキーが形成されている。すなわち、前後移動部２１３は、左右移動部２１２に対して水平軸Ｌh’と直交する方向（前後方向）に沿って摺動自在である。また、左右移動部２１２の右側面中央には、左右移動部２１２の上面に形成されたキー溝に達する穿孔が設けられており、この穿孔には、前後調整摘み部２１２ｄが取り付けられている。すなわち、前後調整摘み部２１２ｄを回転させることにより、前後移動部２１３を左右移動部２１２に対して前後方向に移動することができる。なお、左右移動部２１２、前後移動部２１３には、左右移動部２１２に対する前後移動部２１３の移動量を示す目盛２１２ｍが描かれている。
【００４５】
前後移動部２１３の上面には、略正方形の凹部２１３ｃが形成されており、前後移動部２１３の正面側の側面中央には、凹部２１３ｃに達するネジ孔が形成されている。このネジ孔には、ボルト状のカメラ固定摘み部２１３ｄが装着される。凹部２１３ｃには、カメラ取付部２１４が嵌入される。カメラ取付部２１４は、略凹部２１３ｃと同型の直方体形状をしており、その底面中央には、底面から上面に貫通する穿孔が形成されており、取付ボルト２１４ｄが嵌挿されている。取付ボルト２１４ｄは、カメラ取付部２１４の上面から突出し、カメラ底面に設けられた、三脚取付孔に螺着され、カメラをカメラ取付部２１４に固定する。カメラ取付部２１４の正面側の側面には、カメラ取付部２１４を凹部２１３ｃ内に装着したときに、カメラ固定摘み部２１３ｄに対応する位置に例えば水平方向の溝が切られている。すなわち、カメラ固定摘み部２１３ｄを回転し、凹部２１３ｃ内に送り出すことにより、カメラ取付部２１４を雲台２１０の前後移動部２１３に固定することができる。
【００４６】
雲台２１０に装置されたカメラ２０は、固定摘み部２０９ｄを操作することにより上下の位置を、２つの調整摘み部２１１ｄ、２１２ｄを操作することにより前後左右の位置を調整することができる。カメラを雲台２１０に配置すると、その投影中心は、略水平軸Ｌh’と鉛直軸Ｌp’との交点（視準原点Ｏ_S）付近に配置される。通常作業者は、カメラの投影中心の位置を知ることはできないので、これを視準原点Ｏ_Sに正確に一致させることはできない。カメラ２０の位置は、固定摘み部２０９ｄ、左右調整摘み部２１１ｄ、前後調整摘み部２１２ｄを操作して視準原点Ｏ_Sの周囲の異なる位置（例えば位置▲１▼〜▲９▼）に配置することができるので、これらの各位置で撮影された画像に上記最適画像選別処理を適用することによりカメラの投影中心が測量機１０の視準原点Ｏ_Sに最も近い位置で撮影された画像を選別することができる。
【００４７】
以上のように本実施形態によれば、セオドライト等のように測点の方向のみを計測できる測量機であっても、測量機と光学的に略等価な位置に配置されたカメラで撮影された画像を簡単に選別することができる。また、本実施形態のカメラ装着装置を用いれば、測量機と光学的に略等価な位置と推定される複数の位置から画像を簡単に撮影することができる。さらに、等価な位置選択後には、その位置に固定することにより本条件を再現できる、よって本検出を再度行う必要がなくなり作業性を上げる事ができる。
【００４８】
なお、本実施形態では、電子セオドライトを測量機として用いたため、測量機に対する測点の方向を表わす角度情報（水平角、高度角）のみに基づいて最適画像選別処理を実行した。測点までの距離と角度情報が得られるトータルステーション等では、測点の３次元的な位置が特定できるので、各画像が撮影されたときのカメラの外部標定要素を各々算出することができる。この場合には、画像毎に算出されたカメラの位置（外部標定要素）のうち最も測量機の位置に近い位置で撮影された画像を選択すればよい。
【００４９】
本実施形態では、各測点の水平角、高度角から仮想的な（視準原点に対する方向を表わす）３次元座標を算出し、この３次元座標に対する共線条件から求められる画像座標を、各画像における実際の測点の画像座標と比べることにより最適な画像を選別しているが、実際の測点の画像座標から対応する仮想的な３次元座標を算出し、これを水平角、高度角から求められる３次元座標と比較してもよい。また更に、測点の画像座標から対応する水平角、高度角を算出し、これを実測された各測点の水平角、高度角と比較してもよい。
【００５０】
【発明の効果】
以上のように、本発明によれば、測量機と光学的に略等価な位置にカメラを配置して撮影された画像を簡便に得ることができる。更に本発明によれば、測量機の位置に近い位置から画像を撮影できるとともに、測量機に対する測点の方向のみ測定可能な測量機においても、その測量情報から撮影された画像のうち最も測量機に近い位置で撮影された画像を簡単に選別することができる。
【図面の簡単な説明】
【図１】本発明における第１の実施形態である測量システムの構成を概略的に示すブロック図である。
【図２】本実施形態の測量システムにおける全体の作業手順を示すフローチャートである。
【図３】測量物を前後・左右に異なる９個の位置から順次撮影した場合（Ｊ＝９）のカメラ位置▲１▼〜▲９▼を模式的に表わす。
【図４】図３で示される測量物の画像の撮影に続いて、測量物上の測点Ｐ₁〜Ｐ₃に対する測量を行うときの模式図である。
【図５】図２のステップＳ１０５における最適画像選別処理のフローチャートである。
【図６】電子セオドライトが三脚に取り付けられた状態を示す。
【図７】本実施形態のカメラ装着装置の斜視図である。
【図８】図８は図７に示したカメラ装着装置の正面図である。
【図９】図８のカメラ装着装置のＡ−Ａ断面図である。
【符号の説明】
１０ 測量機
１２ 測角部
２０ デジタルスチルカメラ
４０ コンピュータ
４１ ＣＰＵ
Ｌh 水平軸
Ｌp 鉛直軸[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a survey system using a surveying instrument and a camera.
[0002]
[Prior art]
In conventional surveying, a surrounding landscape including a point to be surveyed (measuring point) is photographed as an overview image of the surveying site, and the photographed image may be stored together with measurement data. It is preferable to take the overview image by arranging the projection center of the camera at a position optically equivalent to the rotation center of the surveying instrument, but it is difficult to arrange a commercially available normal camera in this way.
[0003]
[Problems to be solved by the invention]
An object of the present invention is to easily obtain an image photographed by arranging a camera at a position substantially optically equivalent to a surveying instrument. In particular, the present invention can take an image from a position close to the position of the surveying instrument, and even in a surveying instrument capable of measuring only the direction of the survey point with respect to the surveying instrument, it is closest to the surveying instrument among the images photographed from the surveying information. The purpose is to easily select images taken at a position.
[0004]
[Means for Solving the Problems]
The surveying system of the present invention includes an image capturing unit that captures a plurality of images including a survey point from a plurality of positions, surveying information of the survey point measured by the surveying unit, and position information on each image of the survey point. On the basis of this, it is characterized by comprising an optimum image selecting means for selecting an image taken from the position closest to the position where the surveying means is installed among a plurality of images.
[0005]
The surveying system includes surveying means for performing surveying, and the surveying information relates to information such as an angle indicating the direction in which the surveying point exists, such as a horizontal angle and an altitude angle. The surveying means can be rotated around the intersecting first and second rotation axes, and the position where the surveying means is installed is defined as the intersection of the first and second rotation axes. At this time, it is preferable that the first and second rotation axes are a horizontal axis and a vertical axis, respectively. The position where the image is taken is defined as the projection center of the optical system of the image taking means.
[0006]
The surveying system includes an input unit for designating the position of the measurement point measured by the surveying unit on the image. At this time, the first image of the plurality of images is measured by the input unit. The position of the point is specified. On the other hand, it is preferable that the positions of the measurement points with respect to the remaining images are determined by performing matching processing with the first image on each image. This makes it possible to automate many parts of the work for designating the measurement points on the image, and the work is greatly simplified.
[0007]
The optimum image selection means includes a collinear condition based on survey information for a survey point when each image is taken at the position where the survey means is installed, and a collinear condition based on position information on the image with respect to the survey point. Based on this displacement, an image taken at a position close to the position where the surveying means is installed is selected. Thereby, even when the surveying information has only information on the direction of the survey point, an optimal image can be selected.
[0008]
Further, the optimum image selection means is, for example, that each image is taken in a predetermined direction at the position where the surveying means is installed. An image position calculating means for calculating the position of the image, and a shooting direction for calculating the image shooting direction in which the distance between the calculated position of the station on the image and the position of the station on the actual image is the smallest for each image Calculating means. At this time, image selection is performed based on the distance between the position of the measurement point on the image calculated based on the image capturing direction and the actual position of the measurement point in each image. Thereby, an optimal image can be easily selected.
[0009]
In addition, the image selection system of the present invention includes, in a plurality of images including a measurement point, position designation means for designating each position on the image corresponding to the measurement point, and surveying information indicating the direction of the measurement point with respect to a predetermined origin. Image selecting means for selecting an image whose projection center of the optical system at the time of shooting is closest to a predetermined origin from each position on the image of the measuring point specified by the position specifying means It is said.
[0010]
For example, the image selection means, when assuming that each image is taken with the projection center placed at a predetermined origin, the position on the image of the measurement point calculated from the collinear condition using the survey information, Based on the deviation of the measurement point designated by the position designation means from the position on the image, the image capturing direction that minimizes the deviation is calculated for each image, and the smallest deviation is compared between the images. By selecting an image with the smallest deviation, an image whose projection center at the time of photographing is closest to a predetermined origin is selected.
[0011]
Furthermore, the camera mounting device of the present invention is a base unit capable of fixing the position and orientation with respect to a tripod for a surveying instrument, and a vertical rotation unit that is rotatably held around the vertical axis by the base unit, An elevating unit that is held by a vertical rotation unit so as to be rotatable about a horizontal axis, a camera is mounted, a pan head unit that can move the camera in first and second directions, and a pan head unit that is a hoisting unit A pan head support unit that communicates with and supports the pan head support unit. The pan head support unit is slidably supported in a third direction that is primarily independent of the first and second directions, and is vertically The axis and the horizontal axis cross each other, and when the camera is mounted, the camera is attached so as to include a point where the vertical axis and the horizontal axis cross each other in the main body.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing an outline of a surveying system using a surveying instrument and a camera according to the first embodiment of the present invention.
[0013]
The surveying instrument 10 is an angle measuring instrument such as an electronic theodolite, and includes a collimating telescope 17 for collimating a measuring point. The collimating telescope 17 has a horizontal axis Lh for raising and lowering the collimating telescope, and a vertical axis Lp for rotating the collimating telescope in a horizontal plane, and can be rotated around these axes. The horizontal axis Lh and the vertical axis Lp are points O_S(Hereafter collimation origin O_SAnd the optical axis (collimation line) LN of the collimating telescope 17_OIs the collimation origin O_SPass through.
[0014]
The angle measuring unit 12 is connected to the system control circuit 13 and detects the altitude angle θh around the horizontal axis Lh and the horizontal angle θp around the vertical axis Lp. That is, the angle measuring unit 12 always measures the angle and sends the measured value to the system control circuit 13 in response to a request from the system control circuit 13. Measurement values such as the detected altitude angle θh and horizontal angle θp are processed in the system control circuit 13. In addition to this, the system control circuit 13 is connected to a switch group 14, a display 15 (for example, an LCD), an interface circuit 16, and the like. For example, a computer 40 such as a notebook personal computer or a peripheral device such as a data collector (not shown) can be connected to the interface circuit 16 via an interface cable.
[0015]
The computer 40 includes a CPU 41 and a recording medium 42 such as a hard disk, DVD, MO, and IC card, input devices such as a mouse 43 and a keyboard 44, an image display device (monitor) 45 such as an LCD and a CRT, and an interface circuit 46. It becomes almost from. As described above, the interface 46 can be connected to the interface circuit 16 of the surveying instrument 10 via the interface cable. The interface circuit 46 can be connected to the digital still camera 20, for example. That is, an image photographed by the digital still camera 20 can be transmitted to the computer 40 as digital image data, and can be recorded on the recording medium 42, for example.
[0016]
Next, the overall work procedure in the surveying system of the first embodiment will be described with reference to FIGS.
[0017]
First, FIG. 2 is a flowchart showing an overall work procedure in the surveying system of the present embodiment. In step S101, the operator installs the digital still camera (DSC) 20 on the theodolite installation base. In step S102, a plurality of (for example, J) overview images of the surveying site are photographed by slightly shifting the camera position forward and backward, left and right, or up and down. FIG. 3 schematically shows the camera positions {circle around (1)} to {circle around (9)} when the surveyed object is sequentially photographed from nine different positions in the front / rear and left / right directions (J = 9). Note that the method for adjusting the digital still camera 20 to the theodolite installation base and the method for adjusting the camera position will be described in detail later.
[0018]
In step S103, the digital still camera 20 is removed from the theodolite installation base, and the electronic theodolite 10 is attached. In step S104, a plurality of different points on the surveyed object (for example, three points P₁, P₂, P_Three) For altitude angle θh_iAnd horizontal angle θp_iAre measured respectively. (For θh and θp, given geographic data such as values already measured, survey information of the Geographical Survey Institute, or commercially available geographic data may be used. If the coordinate system used in this embodiment is different from the given geographic data and the coordinate system, it is necessary to convert the given geographic data into the values of the coordinate system used in this embodiment by coordinate conversion, and vice versa. Note that the parameter i used as a subscript is for identifying each measurement point measured by the electronic theodolite 10, and i = 1, 2, 3 in this embodiment. FIG. 4 schematically shows the state of this surveying. In step S105, among the images taken at the camera positions (1) to (9), the projection center of the camera is the collimation origin O of the electronic theodolite 10._SThe optimal image selection process for selecting an image considered to be in the closest position is executed, and the surveying operation of this embodiment is completed. The optimum image selection process will be described below with reference to the flowchart of FIG.
[0019]
FIG. 5 is a flowchart of the optimum image selection process in step S105. The optimum image selection processing is performed by using the digital still camera 20 and image data of nine images (images 1 to 9) taken at positions (1) to (9) and three measured by the electronic theodolite 10. Altitude angle θh of stations P1 to P3_i, Horizontal angle θp_iAfter the survey data such as the above is transferred to the computer 40, it is executed on the computer 40. The image data may be transferred to the computer 40 by connecting the digital still camera 20 and the computer 40 with an interface cable as shown in FIG. 1, or using a removable memory such as a compact flash (registered trademark). It may be performed via.
[0020]
In step S201, for example, the image 1 is displayed on the monitor 45, and the measurement point P using the mouse 43 or the like is used.₁~ P_ThreeThe position on the image corresponding to is specified, and the image coordinates (X₁₁, Y₁₁), (X₁₂, Y₁₂), (X₁₃, Y₁₃) Is acquired. In the following, image coordinates (X_ji, Y_ji) Is the value of parameter j for identifying image 1 to image 9 with the first subscript j, and the second subscript is the station P₁To station P_ThreeRepresents the value of the parameter i for identifying.
[0021]
In step S202, station P_iVirtual three-dimensional coordinates (x representing i = 1, 2, 3)_i, Y_i, Z_i) Is each station P_iAltitude angle θh_i, Horizontal angle θp_iIs calculated from Coordinates (x_i, Y_i, Z_i) Is the collimation origin O_SExpressed in an arbitrary three-dimensional coordinate system with the origin as the collimation origin O_SAnd station P_iCorresponds to an arbitrary collinear vector on a straight line (collinear) connecting. As a three-dimensional coordinate system, for example, altitude angle θh_i, Horizontal angle θp_iIs a left-handed coordinate system in which the direction of 0 is the y-axis, the x-axis is in the horizontal plane, and the vertical upward direction is the z-axis. At this time, if the size of the collinear vector is r, three-dimensional coordinates (x_i, Y_i, Z_i)
x_i= R · cos θh_i・ Cos θp_i
y_i= R · cos θh_i・ Sinθp_i
z_i= R · sinθh_i
It is expressed as Hereinafter, this coordinate system is referred to as a machine coordinate system.
[0022]
Next, in step S203, the parameter j is set to 2, and the processes in steps S204 to S212 are repeatedly executed for each image j until j = J. In step S204, the station P on the image j is displayed._iImage coordinates (X_ji, Y_ji) Is required. In the present embodiment, matching processing is performed on the image 1 and the image j, and the image coordinates (X_1i, Y_1i) Image coordinates (X_ji, Y_ji) May be obtained, but the operator may designate each image using the mouse 43.
[0023]
In step S205, the approximate tilt (α of the digital still camera 10 when the image j is photographed)._Gj, Β_Gj, Γ_Gj) Is initially set to (0, 0, 0). Where the angle α_Gj, Β_Gj, Γ_GjAre rotation angles around the x-axis, y-axis, and z-axis, respectively, and an arbitrary convention is used to define the rotation angle. In step S205, the merit function Φ for the image j_jIs initially set to 0. Thereafter, the processing from step S206 to step S209 is repeated using the set values as initial values. The merit function Φ_jWill be described in the description of step S207.
[0024]
In step S206, the camera position when the image j is photographed is the collimation origin O._S(0, 0, 0) and the camera tilt at that time is (α_Gj, Β_Gj, Γ_Gj) As point P_iThree-dimensional coordinates (x_i, Y_i, Z_i) Image coordinates (X_Gji, Y_Gji) Is calculated as approximate image coordinates using collinear conditions. The method for calculating the image coordinates will be described in detail later.
[0025]
In step S207, the merit function Φ_jIs calculated. Merit function Φ_jIs defined by, for example, equation (1).
[Expression 1]

That is, merit function Φ_jIs each station P_iThe actual image coordinates (X_ji, Y_ji) And the image j is the collimation origin O_SThe slope (α_Gj, Β_Gj, Γ_Gj) Approximate image coordinates calculated from collinear conditions (X_Gji, Y_Gji) Represents the size of the difference between
[0026]
In step S208, the merit function Φ is repeated in the iterative process from step S206 to step S209._jIt is determined whether or not has changed with respect to the previous value. For example, the value of the merit function in the previous process is Φ_j ⁰And the value of this process is Φ_j ¹, Φ_j ¹−Φ_j ⁰It is determined whether the value of | is equal to or greater than a predetermined value.
[0027]
｜ Φ_j ¹−Φ_j ⁰If it is determined that | Φ ≧ predetermined value, the slope (α) approximately given in step S209_Gj, Β_Gj, Γ_Gj) Is obtained by, for example, the least square method. That is, the collinear condition is an approximate value (α_Gj, Β_Gj, Γ_Gj) Around Taylor and linearize by omitting high-order terms, and by creating a normal equation with the correction amount (δα, δβ, δγ) as an unknown amount, an appropriate correction amount (δα, δβ, δγ) can be obtained. Desired. In step S209, an inclination (α that is an approximate value) is calculated based on the calculated correction amounts (δα, δβ, δγ)._Gj, Β_Gj, Γ_Gj) Values for (α_Gj+ Δα, β_Gj+ Δβ, γ_Gj+ Δγ). Thereafter, the process returns to step S206. In step S208, | Φ_j ¹−Φ_j ⁰Until it is determined that | Φ <predetermined value, the processes in steps S206 to S209 are repeated. In step S208, | Φ_j ¹−Φ_j ⁰If it is determined that | Φ <predetermined value, the process proceeds to step S210.
[0028]
In step S210, the merit function Φ obtained last in the repetition processing of step S206 to step S209._jAnd the last (α_Gj, Β_Gj, Γ_Gj) Is stored in the storage area of the CPU 41. In step S211, it is determined whether j = J (= 9). That is, the merit function Φ for all the images 1 to 9_jIt is determined whether or not the value of is calculated. If it is determined that j = J is not satisfied, that is, j <J, the value of the parameter j is incremented by 1 in step S212, and the process returns to step S204.
[0029]
On the other hand, if it is determined that j = J in step S211, among the images j (j = 2, 3,..., 9) in step S213, the merit function Φ_jIs selected, and the image number j and the gradient (α_Gj, Β_Gj, Γ_Gj) Is recorded on the recording medium 42 or the like, for example. That is, merit function Φ_jThe image having the smallest is the collimation origin O of the electronic theodolite 10 among the images 1 to 9._SIt is an image taken from the position closest to the. Thus, the optimum image selection process of this embodiment is completed. In the above description, the camera positions are nine points on the horizontal plane (positions {circle over (1)} to {circle over (9)}), but it goes without saying that the camera positions are not limited to these positions. For example, the top and bottom 3 points (total 9 points) on the plane may be added to the top and bottom 3 points, and shooting may be performed at positions corresponding to the total 27 points.
[0030]
Next, approximate image coordinates (X_Gji, Y_Gji) Will be described.
[0031]
The three-dimensional coordinate (x, y, z) of the machine coordinate system is the origin of the camera coordinate system (x₀, Y₀, Z₀) And the camera coordinate system is rotated by (α, β, γ) around the x-axis, y-axis, and z-axis, the three-dimensional coordinates (cx, cy, cz).
[Expression 2]

Where matrix {T_jk} Is a rotation matrix and each component T_jkIs represented by the following equation, for example.
T₁₁= Cosβ ・ cosγ
T₁₂= Cosα · sinγ + sinα · sinβ · cosγ
T₁₃= Sin α · sin γ-cos α · sin β · cos γ
T_{twenty one}= -Cosβ · sinγ
T_{twenty two}= Cosα · cosγ-sinα · sinβ · sinγ
T_{twenty three}= Sin α · cos γ + cos α · sin β · sin γ
T₃₁= Sinβ
T₃₂= -Sinα ・ cosβ
T₃₃= Cosα ・ cosβ
[0032]
Also, the origin of the camera coordinate system is made coincident with the projection center of the camera, the cx axis and cy axis are parallel to the horizontal and vertical lines of the image sensor of the digital still camera 20, and the cz axis is perpendicular to the imaging surface and from the projection center. When defined in the direction of the image plane, the three-dimensional coordinates (cx, cy, cz) in the camera coordinate system are expressed as the two-dimensional screen coordinates ( s, t).
[Equation 3]

The screen coordinate system is a two-dimensional coordinate system on the imaging surface with the principal point as the origin, and the s-axis corresponds to the horizontal line direction of the image sensor 21 and the t-axis corresponds to the vertical line direction. Here, f is the screen distance.
[0033]
The screen coordinates (s, t) obtained from the equation (3) do not take into account the deviation from the collinear condition due to the distortion of the optical system of the digital still camera 20. The corrected screen coordinates (sc, tc) are obtained by the following equation (4).
[Expression 4]

Where D₂, D_Four, D₆Are the distortion secondary component, the fourth component, and the sixth component, respectively, and N₁, N₂Is distortion asymmetric component, X_C, Y_CIs the amount of eccentricity of the principal point in the s-axis direction and t-axis direction from the image center.
[0034]
The image coordinates (X, Y) can be obtained by substituting the corrected screen coordinates (sc, tc) into the following equation (5).
[Equation 5]

Here, Px and Py are the pixel pitches in the horizontal and vertical directions of the CCD, respectively, and W and H are the numbers of pixels in the horizontal and vertical directions of the image, respectively.
[0035]
The three-dimensional coordinates of the machine coordinate system can be converted into image coordinates by the conversion of the above expressions (2) to (5). Therefore, in step S206, the camera position (0, 0, 0) and the inclination (α_Gj, Β_Gj, Γ_Gj) 3D coordinates (x_i, Y_i, Z_i) To substitute the station P in the image j_iApproximate image coordinates (X_Gji, Y_Gji) Is calculated.
[0036]
Next, an apparatus method for the theodolite installation base of the camera and a camera position adjustment method in this embodiment will be described with reference to FIGS.
[0037]
FIG. 6 shows a state in which the electronic theodolite 10 is attached to the tripod 50. The electronic theodolite 10 generally includes a theodolite main body 100 that supports the collimating telescope 17 so as to be able to be raised and lowered, a horizontal scale portion 101 having a horizontal scale plate, a leveling table 102, and a bottom plate 103 attached to a tripod 50. The main body of the electronic theodolite 10 of this embodiment and the horizontal scale part 101 are comprised integrally, and can be attached or detached to the leveling stand 102. FIG. That is, in the present embodiment, the leveling table 102 functions as a theodolite installation table.
[0038]
7 is a perspective view of the camera mounting device of the present embodiment, FIG. 8 is a front view, and FIG. 9 is a cross-sectional view taken along line AA of FIG.
[0039]
The digital still camera 20 is attached to a theodolite installation base (leveling base) 102 attached to a tripod 50 via a camera attachment device 200. A cylindrical base 201 is attached to the theodolite installation base 102 instead of the horizontal scale 101. For example, three protrusions 202 are provided on the bottom surface of the base part 201, and the protrusions 202 are fitted into corresponding recesses of the theodolite installation base 102 to fix the base part 201 to the theodolite installation base 102.
[0040]
On the upper surface of the base part 201, a horizontal rotation part 203 is disposed in which an elongated flat plate is formed into a U-shape. The U-shaped horizontal rotation part 203 is oriented so that the mouth is open upward, and the center is arranged at the approximate center of the base part 201. A shaft hole 203h into which the rotation shaft member 204 is inserted is formed at a position corresponding to the center portion of the base portion 201 of the horizontal rotation portion 203. Correspondingly, a shaft hole 201h is formed in the center of the base portion 201 from the bottom surface to the top surface. A rotary shaft member 204 is inserted into the shaft hole 203h and the shaft hole 201h and fixed with a nut 204n or the like. As a result, the horizontal rotation unit 203 is held to be rotatable about the vertical axis Lp ′ with respect to the base unit 201.
[0041]
Inside the horizontal rotation unit 203, a U-shaped elevating portion 205 having substantially the same width as the horizontal rotation unit 203 but slightly smaller than the horizontal rotation unit 203 is arranged at a predetermined interval. The Both the horizontal rotation part 203 and the up / down part 205 are engaged with each other at the upper left and right ends. That is, shaft holes for inserting the rotation shaft members 206a and 206b are respectively provided at both upper end portions of the horizontal rotation portion 203 and the elevation portion 205. The rotary shaft member 206a is rotatably inserted into the respective shaft holes provided at the upper end on the right side in the front view (FIG. 8) of the horizontal rotation unit 203 and the elevation unit 205 via the spacer 206C. On the other hand, the rotating shaft member 206b is rotatably inserted into each shaft hole provided at the upper end on the left side via a spacer 206C. The rotary shaft members 206a and 206b are arranged on the same axis Lh ′, and the axis Lh ′ is orthogonal to the vertical axis Lp ′ passing through the center of the base part 201. That is, the elevation unit 205 is held by the horizontal rotation unit 203 so as to be rotatable about the horizontal axis Lh ′, thereby realizing the elevation operation of the camera. Further, a knob 207 for fixing the raising / lowering operation is attached to the end of the rotating shaft member 206a. The intersection of the horizontal axis Lh ′ and the vertical axis Lp ′ is the collimation origin O when the electronic theodolite 10 is attached._SThis corresponds approximately to the position of.
[0042]
A columnar member 208 is provided perpendicular to the bottom plate at the center of the bottom plate extending in the lateral direction of the ridge portion 205. That is, the columnar member 208 is attached to the center of the bottom plate in parallel to the both side plates of the up / down portion 205. Further, the upper end side of the column member 208 is fitted into the circular tube member 209, and the circular tube member 209 is slidable with respect to the column member 208. The position of the circular pipe member 209 is fixed by an upper and lower fixed knob 209 d provided from the lower end of the circular pipe member 209. That is, a perforation that communicates the inside and the outside of the circular tube is formed from the lower end of the circular tube member 209, and a female screw that engages with the male screw of the upper and lower fixed knob portion 209d is perforated in this perforation. Has been. The vertical movement of the circular tube member 209 is restricted by rotating the vertical fixing knob 209 d and pressing the male screw against the side surface of the columnar member 208 in the circular tube member 209. A scale 208m is drawn on the side surface of the cylindrical member 208, and the operator can know the distance from the elevation part 205 of the circular pipe member 209 with reference to the scale 208m.
[0043]
A pan head part 210 is provided on the upper part of the circular pipe member 209. The pan head unit 210 has a three-layer structure including a fixed unit 211, a left / right moving unit 212, and a front / rear moving unit 213 from the bottom. The fixed part 211 is fixed to the circular pipe member 209, and the fixed part 211 has a substantially rectangular parallelepiped shape with a horizontal horizontal plane. A dovetail-shaped keyway is formed on the upper surface of the fixed portion 211 along the horizontal axis Lh ′. The left-right moving part 212 also has a rectangular parallelepiped shape that is substantially the same type as the fixed part 211, and has a dovetail-shaped key that engages with a key groove formed on the upper surface of the fixed part 211. That is, the left / right moving unit 212 is slidable in the horizontal axis Lh ′ direction with respect to the fixed unit 211. A perforation reaching the keyway formed on the upper surface of the fixing portion 211 is provided at the center of the side surface on the front side of the fixing portion 211, and a left and right adjustment knob 211d is attached to the perforation. That is, by rotating the left / right adjustment knob 211d, the left / right moving part 212 can be moved in the left / right direction (along the horizontal axis Lh ′) with respect to the fixed part 211. The fixed portion 211 and the left and right moving portion 212 are drawn with a scale 211m indicating the amount of movement of the left and right moving portion 212 relative to the fixed portion 211.
[0044]
On the other hand, a dovetail-shaped key groove is formed on the upper surface of the left-right moving part 212 along a direction orthogonal to the horizontal axis Lh ′, and the front-rear moving part having a rectangular parallelepiped shape substantially the same as the left-right moving part 212 On the bottom surface of 213, a dovetail-shaped key that engages with a key groove provided on the top surface of the left and right moving portion 212 is formed. That is, the front-rear moving unit 213 is slidable along a direction (front-rear direction) perpendicular to the horizontal axis Lh ′ with respect to the left-right moving unit 212. Further, in the center of the right side surface of the left / right moving part 212, a hole reaching the keyway formed on the upper surface of the left / right moving part 212 is provided, and a front / rear adjustment knob 212d is attached to this hole. That is, by rotating the front / rear adjustment knob 212d, the front / rear moving unit 213 can be moved in the front / rear direction with respect to the left / right moving unit 212. In addition, the scale 212m which shows the movement amount of the front-back moving part 213 with respect to the left-right moving part 212 is drawn by the left-right moving part 212 and the front-back moving part 213.
[0045]
A substantially square recess 213c is formed on the upper surface of the front-rear moving part 213, and a screw hole reaching the recess 213c is formed at the center of the front side of the front-rear moving part 213. A bolt-shaped camera fixing knob 213d is attached to the screw hole. The camera mounting portion 214 is fitted into the recess 213c. The camera mounting portion 214 has a rectangular parallelepiped shape substantially the same as the concave portion 213c, and a perforation penetrating from the bottom surface to the upper surface is formed at the center of the bottom surface, and a mounting bolt 214d is fitted therein. The mounting bolt 214d protrudes from the upper surface of the camera mounting portion 214 and is screwed into a tripod mounting hole provided on the camera bottom surface to fix the camera to the camera mounting portion 214. On the side surface on the front side of the camera mounting portion 214, for example, a horizontal groove is cut at a position corresponding to the camera fixing knob 213d when the camera mounting portion 214 is mounted in the recess 213c. In other words, the camera mounting portion 214 can be fixed to the front / rear moving portion 213 of the pan / tilt head 210 by rotating the camera fixing knob 213d and feeding it into the recess 213c.
[0046]
The camera 20 installed on the camera platform 210 can adjust the vertical position by operating the fixed knob 209d, and the front, rear, left and right positions by operating the two adjustment knobs 211d and 212d. When the camera is placed on the camera platform 210, the projection center thereof is the intersection of the substantially horizontal axis Lh 'and the vertical axis Lp' (collimation origin O_S) Is located near. Usually, since the operator cannot know the position of the projection center of the camera, this is referred to as collimation origin O._SCannot match exactly. The position of the camera 20 is determined by operating the fixed knob 209d, the left / right adjustment knob 211d, and the front / rear adjustment knob 212d._SCan be arranged at different positions (for example, positions {circle around (1)} to {circle around (9)}), the projection center of the camera is surveyed by applying the optimum image selection process to the images photographed at these positions. Collimation origin O of machine 10_SIt is possible to select an image taken at a position closest to the.
[0047]
As described above, according to the present embodiment, even a surveying instrument that can measure only the direction of a survey point, such as a theodolite, was photographed with a camera disposed at a position optically equivalent to the surveying instrument. Images can be easily selected. Moreover, if the camera mounting apparatus of this embodiment is used, an image can be easily taken from a plurality of positions that are estimated to be substantially optically equivalent to the surveying instrument. Furthermore, after the equivalent position is selected, this condition can be reproduced by fixing the position to that position, so that it is not necessary to perform the main detection again and workability can be improved.
[0048]
In the present embodiment, since the electronic theodolite is used as a surveying instrument, the optimum image selection process is executed based only on angle information (horizontal angle, altitude angle) indicating the direction of the survey point with respect to the surveying instrument. In a total station or the like that can obtain distance and angle information to a measurement point, the three-dimensional position of the measurement point can be specified, so that each of the external orientation elements of the camera when each image is taken can be calculated. In this case, an image captured at a position closest to the position of the surveying instrument among the camera positions (external orientation elements) calculated for each image may be selected.
[0049]
In the present embodiment, virtual three-dimensional coordinates (representing the direction with respect to the collimation origin) are calculated from the horizontal angle and altitude angle of each measurement point, and image coordinates obtained from the collinear conditions for the three-dimensional coordinates are calculated as The optimal image is selected by comparing with the image coordinates of the actual station in the image, but the corresponding virtual three-dimensional coordinates are calculated from the image coordinates of the actual station, and these are calculated as horizontal and altitude angles. You may compare with the three-dimensional coordinate calculated | required from. Furthermore, the corresponding horizontal angle and altitude angle may be calculated from the image coordinates of the station and compared with the measured horizontal angle and altitude angle of each station.
[0050]
【The invention's effect】
As described above, according to the present invention, it is possible to easily obtain an image photographed by arranging a camera at a position substantially optically equivalent to a surveying instrument. Furthermore, according to the present invention, an image can be taken from a position close to the position of the surveying instrument, and even in a surveying instrument capable of measuring only the direction of the survey point with respect to the surveying instrument, the most surveyed instrument among the images photographed from the surveying information. It is possible to easily select images taken at a position close to.
[Brief description of the drawings]
FIG. 1 is a block diagram schematically showing the configuration of a surveying system according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing an overall work procedure in the surveying system of the present embodiment.
FIG. 3 schematically shows camera positions {circle around (1)} to {circle around (9)} when a surveyed object is sequentially photographed from nine different positions on the front, rear, left and right (J = 9).
FIG. 4 is a diagram illustrating a measurement point P on the surveying object after the image of the surveying object shown in FIG. 3 is taken.₁~ P_ThreeIt is a schematic diagram when surveying is performed.
FIG. 5 is a flowchart of optimum image selection processing in step S105 of FIG.
FIG. 6 shows a state where an electronic theodolite is attached to a tripod.
FIG. 7 is a perspective view of the camera mounting device of the present embodiment.
FIG. 8 is a front view of the camera mounting device shown in FIG. 7;
9 is a cross-sectional view taken along the line AA of the camera mounting device of FIG.
[Explanation of symbols]
10 Surveying machine
12 Angle measuring section
20 Digital still camera
40 computers
41 CPU
Lh horizontal axis
Lp Vertical axis

Claims (12)

Image photographing means for photographing a plurality of images including measurement points from a plurality of positions;
Based on the survey information of the survey point and the position information of the survey point on each image, the optimum image is selected from the plurality of images taken from the position closest to the position where the surveying means is installed. Image sorting means,
It is assumed that the optimum image selection means has taken each of the images in a predetermined direction at the position where the surveying means is installed, and corresponds to the measurement point based on the collinear condition with respect to the measurement information of the measurement point. Image position calculating means for calculating a position on the image, and for each image, an image shooting direction in which the distance between the calculated position of the station on the image and the position of the station on the actual image is the smallest A shooting direction calculation means for calculating the image, and the image sorting is performed by calculating the position of the station on the image calculated based on the image shooting direction and the actual position of the station in each image. Surveying system characterized by being based on the distance between.   The surveying system according to claim 1, further comprising surveying means for performing surveying.   The surveying system according to claim 1, wherein the surveying information relates to a direction in which the surveying point exists.   The surveying system according to claim 3, wherein the direction is indicated by an angle.   The surveying system according to claim 4, wherein the angle is a horizontal angle and an altitude angle of the survey point.   The surveying means is rotatable around the intersecting first and second rotation axes, and the position where the surveying means is installed is an intersection of the first and second rotation axes. The surveying system according to claim 2, wherein the surveying system is characterized.   The surveying system according to claim 6, wherein the first and second rotation axes are a horizontal axis and a vertical axis, respectively.   The surveying system according to claim 1, wherein a projection center of the optical system of the image photographing unit is a position where the image is photographed.   The surveying system according to claim 1, further comprising an input unit for designating a position of the surveying point on the image.   The position of the station is designated by the input means for the first image of the plurality of images, and the position of the station for the remaining images is matched with the first image for each image. The surveying system according to claim 9, wherein the surveying system is determined by applying to the surveying system. In a plurality of images including a station, position specifying means for respectively specifying a position on the image corresponding to the station,
From the survey information indicating the direction of the survey point with respect to a predetermined origin and the position on the image of the survey point designated by the position designating means, the projection center of the optical system at the time of photographing among the images is the predetermined measure. Image selecting means for selecting an image closest to the origin of
When the image selection means assumes that each image is photographed in a predetermined direction with the projection center placed at the predetermined origin, the image selection means calculates the measurement based on the collinear condition with respect to the survey information of the survey point. An image position calculating means for calculating a position on the image corresponding to the point; for each image, the calculated position on the image of the station and the position on the image of the station specified by the position specifying means An image capturing direction calculating means for calculating an image capturing direction that minimizes the distance to the image, and the selection of the image is performed based on the image capturing direction, the position of the station on the image, and the position designation. An image selection system characterized in that the image selection system is performed based on a distance from the position of the measurement point in each image specified by the means. Based on a surveying instrument, a camera that captures a plurality of images including a survey point from a plurality of positions, survey information of the survey point, and position information on each image of the survey point, the plurality of images An optimum image sorting means for sorting images taken from the position closest to the position where the surveying means is installed, and the optimum image sorting means is directed in a predetermined direction at the position where the surveying instrument is installed. It is assumed that each of the images has been taken, image position calculating means for calculating a position on the image corresponding to the station from the collinear condition with respect to the survey information of the station, and the calculated for each image An image capturing direction calculating means for calculating an image capturing direction in which the distance between the position of the station on the image and the position of the station on the actual image is the smallest, and the image selection is performed in the image capturing direction. Of the station calculated based on The position on the image, wherein a camera mounting apparatus for use in a surveying system is performed based on the distance between the actual position of the measuring points in each image,
A base that can fix the position and orientation of the tripod for the surveying instrument;
A vertical rotation part that is rotatably held around the vertical axis on the base part;
An upright portion held by the vertical rotation portion so as to be rotatable around a horizontal axis;
A camera-mounted head unit capable of moving the camera in first and second directions;
A pan head support unit that communicates with and supports the pan head unit;
The pan head support unit supports the pan head unit so as to be slidable in a third direction that is primarily independent of the first and second directions, and the vertical axis and the horizontal axis cross each other. When the camera is mounted, the camera is mounted so that the main body includes a point where the vertical axis and the horizontal axis intersect.

Images