JP6336810B2 - Portable photographing apparatus and photographing program - Google Patents

Description

  The present invention relates to a portable photographing apparatus and a photographing program.

  2. Description of the Related Art Conventionally, a technique has been proposed in which an image of the ground surface is captured by a camera mounted on an aircraft or the like, and the position of the ground surface or the like that is the object of photographing is specified. For example, in Patent Documents 1 to 4 below, an image of the ground surface is captured by a camera mounted on a moving body such as an aircraft, the coordinate value of the shooting position, the distance between the shooting position and the shooting target, the elevation angle in the shooting direction, and There has been disclosed an imaging apparatus that can be mounted on a moving body and that can specify a coordinate value of an imaging target based on an azimuth angle in the imaging direction.

JP 2011-38944 A JP 2011-130255 A JP2013-205165A JP 2013-205419 A

  However, in the above-described conventional technology, there is a problem that distance measurement cannot be performed when the laser beam is not reflected or the intensity of the reflected light is so low that measurement is impossible, such as when photographing a water surface or the like. there were.

  An object of the present invention is to provide a portable photographing apparatus and a photographing program capable of estimating a distance with high accuracy even when photographing a water surface or the like.

  In order to achieve the above object, an embodiment of the present invention is a portable imaging device, which is an imaging unit for imaging an imaging object in an arbitrary imaging direction from an arbitrary imaging position, the imaging position, and the imaging Distance measuring means for measuring the distance to the object, elevation angle measuring means for measuring the elevation angle in the shooting direction, azimuth angle measuring means for measuring the azimuth angle in the shooting direction, and measuring the coordinate value of the shooting position Coordinate measurement means, distance measurement status monitoring means for monitoring whether distance measurement by the distance measurement means is impossible, and distance measurement by the distance measurement means when it is determined that distance measurement is impossible. The height of the object to be imaged calculated using the distance measurement result, the elevation angle measurement result in the shooting direction, and the coordinate value measurement result of the shooting position at the time immediately before it becomes impossible or at the first time after the distance measurement is resumed. , Based on the measured elevation angle and coordinate value, distance estimation means for estimating the distance between the imaging position where the distance measurement is impossible and the imaging object, the estimated distance, and the measured elevation angle, Based on the azimuth angle and the coordinate value, the calculation means for calculating the coordinates of the shooting target, the display means for displaying that the distance measurement is impossible for the shooting target where the distance measurement is impossible, the shooting means, the distance A housing that houses the measuring means, the elevation angle measuring means, and the azimuth angle measuring means.

  The distance estimating means preferably estimates the distance between the imaging position and the imaging object when the elevation angle measured by the elevation angle measuring means exceeds a predetermined value.

  Another embodiment of the present invention is an imaging program, an image information acquisition unit that acquires image information obtained by imaging a shooting target in an arbitrary shooting direction from an arbitrary shooting position by a shooting unit; Distance information acquisition means for acquiring the measurement result of the distance between the imaging position and the imaging object by the measurement means, elevation angle acquisition means for acquiring the measurement result of the elevation angle in the imaging direction, measurement result of the azimuth angle in the imaging direction Azimuth angle acquisition means for acquiring the coordinate value acquisition means for acquiring the coordinate value of the shooting position, distance measurement status monitoring means for monitoring whether or not distance measurement by the distance measurement means is impossible, and by the distance measurement means When it is determined that distance measurement is impossible, measurement is performed at the time immediately before the elevation angle and distance measurement in the shooting direction becomes impossible or at the first time after the distance measurement is resumed. The distance measurement is performed based on the height of the object to be imaged calculated using the distance measurement result, the measurement result of the elevation angle in the imaging direction, and the measurement result of the coordinate value of the imaging position, and the measured elevation angle and coordinate value. Distance estimation means for estimating the distance between the imaging position and the imaging target that is impossible, and calculation means for calculating the coordinates of the imaging target based on the estimated distance and the measured elevation angle, azimuth angle, and coordinate value The photographing object that cannot measure the distance is made to function as a display unit that displays that the distance measurement is impossible.

  According to the present invention, it is possible to estimate the distance with high accuracy when photographing the water surface or the like.

It is a block diagram of the portable imaging device concerning an embodiment. It is a functional block diagram of a control device concerning an embodiment. It is explanatory drawing of the calculation process of the object coordinate calculating part shown by FIG. It is a flowchart of the example of the distance estimation operation | movement of the control apparatus concerning embodiment. It is explanatory drawing of the distance estimation process by the distance estimation part shown by FIG. It is explanatory drawing at the time of image | photographing a river area with the portable imaging device which concerns on embodiment from aircraft, such as a helicopter.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 shows a configuration diagram of a portable photographing apparatus according to the embodiment. In FIG. 1, the portable imaging device includes an imaging device 10, a distance measurement device 12, an angle measurement device 14, a coordinate measurement device 16, and a control device 18. This portable photographing apparatus is used for taking a photograph of the ground surface while being carried by a user, for example, by bringing it into an aircraft such as a helicopter.

  The imaging device 10 is configured by a CCD camera or other appropriate camera, and shoots a shooting target to generate image information of the shooting target. Note that the photographing apparatus 10 may include a video camera that photographs a moving image. Moreover, the imaging device 10 may be configured to include a plurality of cameras with different elevation angles in the imaging direction arranged in the vertical and horizontal directions. Further, a plurality of cameras having different focal lengths may be used so that the shooting range of the telephoto lens is included in the shooting range of the wide-angle lens. As a result, the angle of view becomes wider and high resolution can be maintained.

  The distance measuring device 12 measures the distance between the shooting position of the shooting device 10 and the shooting target. The distance between the shooting position and the shooting target is measured using, for example, a conventionally known laser distance meter.

  The angle measurement device 14 measures an azimuth angle and an elevation angle in the photographing direction of the photographing device 10. The photographing direction is, for example, the optical axis direction of the lens of the camera that constitutes the photographing apparatus 10. The azimuth angle in the shooting direction is measured by detecting the direction of geomagnetism using a conventionally known magnetic sensor, for example. Further, the elevation angle in the photographing direction is measured using a conventionally known gyroscope or the like. Thereby, for example, when the user adjusts the orientation of the housing 20 that houses the camera, which will be described later, so as to target the shooting target (the shooting target is located on the optical axis of the camera lens), the adjustment is performed. The azimuth angle and elevation angle in the shooting direction can be measured.

  The distance and angle measurement by the distance measurement device 12 and the angle measurement device 14 may be performed in synchronization with the shutter of the photographing device 10, or the distance and angle are measured separately (asynchronously) from the shutter. It is good. Note that, when moving image shooting is performed, the measurement may be performed at predetermined time intervals.

  The coordinate measuring device 16 includes a GPS (Global Positioning System) receiver, and measures coordinate values (for example, latitude, longitude, altitude) of the shooting position of the shooting device 10. The measurement of the coordinate value is performed in synchronism with the shutter of the photographing apparatus 10 or asynchronously. In addition, when moving image shooting is performed, the coordinate value may be measured at predetermined time intervals. In FIG. 1, the coordinate measuring device 16 is connected to the control device 18 by a communication line. However, in this example, the user wears himself or herself (for example, inserts it in a pocket or the like) at the time of photographing, and photographing is performed. It is assumed that the apparatus 10 and the user can be regarded as being in the same position. The coordinate measuring device 16 may be fixed to a housing 20 described later. In this case, it is preferable to arrange the housing 20 in a place where radio waves from GPS satellites can be satisfactorily received, such as near the window of a helicopter. Alternatively, only the coordinate measuring device 16 may be arranged at a location where radio waves from GPS satellites can be received satisfactorily, such as near a helicopter window, and radio waves from GPS satellites may be received.

  The control device 18 is configured by an appropriate computer, and the coordinate value of the photographing position measured by the coordinate measuring device 16, the distance between the photographing position measured by the distance measuring device 12 and the photographing object, and the angle measuring device 14 measured. Based on the azimuth angle and the elevation angle, a coordinate value of the subject is obtained. Further, the distance between the photographing position measured by the distance measuring device 12 and the photographing object, the azimuth and elevation angles measured by the angle measuring device 14, the coordinate values obtained by the control device 18, and the like are photographed by the photographing device 10. The image information to be imaged is output in association with the image information.

  The photographing device 10, the distance measuring device 12, and the angle measuring device 14 are fixed to an appropriate casing 20 that can be gripped by the user so that the user can hold the hand and perform operations such as photographing. In the example shown in FIG. 1, the distance measuring device 12 and the angle measuring device 14 are arranged on the outer surface of the housing 20, but these arrangements are not limited to the example in FIG. 1. If the user can easily perform an operation such as shooting while holding the housing 20 by hand, it is appropriately adopted if it is integrally fixed to the inside of the housing 20 and the periphery (outer surface) of the housing 20. it can. The housing 20 may be configured to accommodate the control device 18. In that case, it is preferable to use a small embedded computer or the like as the control device 18 instead of the personal computer shown in FIG. Further, the coordinate measuring device 16 may be further housed in the housing 20 as long as the coordinate value of the shooting position can be measured by receiving radio waves from a GPS satellite. The portable imaging device according to the embodiment employs a small magnetic sensor or gyroscope for the angle measurement device 14, and does not need to obtain the rotation angle of the camera with respect to an axis fixed to a moving body such as an aircraft or a vehicle. A device. Therefore, the azimuth angle can be measured even when the user holds the hand. Further, it is preferable that the housing 20 is provided with a gripping member 22 for gripping when the user holds it by hand.

  FIG. 2 is a functional block diagram of the control device 18 according to the embodiment. In FIG. 2, the control device 18 includes an image information acquisition unit 24, a GPS information acquisition unit 26, a distance information acquisition unit 28, an angle information acquisition unit 30, a distance measurement status monitoring unit 32, a distance estimation unit 34, and a target coordinate calculation unit 36. , A storage unit 38, an output unit 40, a communication unit 42, and a CPU 44. The control device 18 includes a CPU, ROM, RAM, nonvolatile memory, I / O, communication interface, and the like, and is configured as a computer that controls the entire device and performs various calculations. This is realized by a program for controlling the processing operation of the CPU 44.

  The image information acquisition unit 24 acquires image information of a subject to be photographed photographed by the photographing device 10. Appropriate identification information is attached to the acquired image information, stored in the storage unit 38, and output to the output unit 40. As this identification information, for example, the shutter operating time of the photographing apparatus 10 can be used. In this case, the image information acquisition unit 24 generates a trigger signal for operating the shutter of the photographing apparatus 10, and the generation time of the trigger signal is used as identification information. At this time, a trigger signal for operating the shutter may be simultaneously output to the distance measuring device 12, the angle measuring device 14, and the coordinate measuring device 16 to perform each measurement, or the distance measuring device 12, the angle measuring device 14, and the coordinate In addition to the trigger signal that causes the measurement device 16 to operate the photographing device 10, a configuration may be adopted in which the trigger signal is output without synchronization and each measurement is performed. Note that the image information acquired by the image information acquisition unit 24 may include a moving image in addition to a still image.

  The GPS information acquisition unit 26 acquires the coordinate value of the imaging position of the imaging device 10 measured by the coordinate measurement device 16 in synchronization with the shutter of the imaging device 10 and stores the coordinate value in the storage unit 38. In this case, the coordinate value stored in the storage unit 38 is attached with identification information such as the operation time of the shutter of the photographing apparatus 10 so that the correspondence relationship with the image information acquired by the image information acquisition unit 24 can be determined. . When the coordinate measurement device 16 performs measurement asynchronously with the shutter of the photographing device 10, the GPS information acquisition unit 26 performs an appropriate interpolation process based on the coordinate measurement time and the shutter operation time during the shutter operation. A coordinate value is obtained and stored in the storage unit 38. In this case, the coordinate value stored in the storage unit 38 is attached with identification information such as the operation time of the shutter of the photographing apparatus 10 so that the correspondence relationship with the image information of the photographing object photographed by the photographing apparatus 10 can be determined. deep. Further, in order to use the time information as identification information, the clock of the control device 18 is initialized based on the time information included in the GPS signal received by the coordinate measuring device 16 so as to be synchronized. If the GPS information acquisition unit 26 cannot acquire the coordinate values, the coordinate values are interpolated using the coordinate values of several points before or after, or the coordinate values are obtained by a known method using a gyroscope, an accelerometer or the like instead of the GPS. You may get it.

  The distance information acquisition unit 28 acquires a distance value measured in synchronization with the shutter of the imaging device 10 by the laser distance meter that constitutes the distance measurement device 12 and stores it in the storage unit 38. This distance value is a distance (for example, a value in meters) between the photographing position of the photographing apparatus 10 and the photographing object. When the laser distance meter outputs data in a format different from the distance (for example, a pulse signal), the distance information acquisition unit 28 uses the measurement data of the laser distance meter to determine the imaging position and imaging object of the imaging device 10. It is good also as a structure which calculates the value of distance. In this way, the distance information stored in the storage unit 38 is also attached with identification information such as the operation time of the shutter of the photographing apparatus 10 so that the correspondence with the image information acquired by the image information acquisition unit 24 can be determined. Keep it as When the distance measurement device 12 performs measurement asynchronously with the shutter of the image capturing device 10, the distance information acquisition unit 28 performs an appropriate interpolation process based on the distance measurement time and the shutter operation time during the shutter operation. The distance value is obtained and stored in the storage unit 38. In this case, the distance value stored in the storage unit 38 is attached with identification information such as the operation time of the shutter of the photographing apparatus 10, and the correspondence relationship with the image information of the photographing object photographed by the photographing apparatus 10 can be determined. Keep it as

  The angle information acquisition unit 30 acquires the azimuth angle and the elevation angle of the imaging direction of the imaging device 10 measured by the angle measurement device 14 in synchronization with the shutter of the imaging device 10 and stores them in the storage unit 38. The angle measuring device 14 is not limited to a device that can measure only the azimuth angle and the elevation angle. Thus, identification information such as the operation time of the shutter of the photographing apparatus 10 is also attached to the azimuth angle and elevation angle stored in the storage unit 38, and the correspondence relationship with the image information acquired by the image information acquisition unit 24 is determined. It is set as the structure which can be performed. When the angle measurement device 14 performs measurement asynchronously with the shutter of the photographing device 10, the angle information acquisition unit 30 performs shutters by appropriate interpolation processing based on the measurement time of the azimuth angle and the elevation angle and the operation time of the shutter. The values of the azimuth angle and elevation angle during the operation are obtained and stored in the storage unit 38. In this case, identification information such as the operation time of the shutter of the photographing apparatus 10 is attached to the values of the azimuth angle and the elevation angle stored in the storage unit 38, and the correspondence relationship with the image information of the photographing object photographed by the photographing apparatus 10. It is set as the structure which can determine.

  The distance measurement status monitoring unit 32 monitors whether or not the distance measurement device 12 cannot measure the distance between the shooting position and the shooting target. For example, when photographing the water surface or the like by the photographing apparatus 10, the laser light of the laser rangefinder is irradiated on the water surface or the like, but is reflected depending on the optical characteristics on the reflecting surface such as the water surface irradiated with the laser light. The intensity of the laser beam may be so low that it cannot be measured. In such a case, the laser rangefinder cannot detect the reflected light of the laser beam and outputs an error signal indicating that the distance cannot be measured. The distance measurement status monitoring unit 32 determines that distance measurement by the distance measurement device 12 is impossible when receiving this error signal, and outputs an operation start instruction signal to the distance estimation unit 34.

  When the distance measurement state monitoring unit 32 determines that the distance measurement by the distance measurement device 12 is impossible (when receiving the operation start instruction signal from the distance measurement state monitoring unit 32), the distance estimation unit 34 determines the distance. Immediately before measurement becomes impossible (finally calculated by the target coordinate calculation unit 36), the coordinate value (especially, the height (the altitude obtained by subtracting the geoid height from the GPS height or the GPS height) and the distance measurement thereof. Based on the measurement result of the elevation angle in the shooting direction measured by the angle measurement device 14 at the time when it is determined that the measurement is impossible and the coordinate value of the shooting position measured by the coordinate measurement device 16 at the time when it is determined that the distance measurement is not possible. Estimate the distance between the shooting position where the distance measurement is impossible and the shooting target.The distance estimation procedure will be described later.After the distance measurement becomes impossible instead of the previous measurement result. When the distance measurement is resumed, the coordinate value of the first photographing object and the measurement result of the elevation angle in the photographing direction may be used.When the distance measurement is resumed, the photographing direction of the distance measuring device 12 is the water surface. This is the time when the laser distance meter resumes detecting the reflected light of the laser beam.

  The distance value estimated by the distance estimation unit 34 is attached with identification information such as the operation time of the shutter of the photographing apparatus 10 so that the correspondence relationship with the image information acquired by the image information acquisition unit 24 can be determined. The distance value estimated by the distance estimating unit 34 is stored in the storage unit 38 with the identification information.

  The target coordinate calculation unit 36 includes the coordinate values (coordinate values of latitude, longitude, altitude, etc.) of the shooting position acquired by the GPS information acquisition unit 26, the shooting position and shooting target of the shooting device 10 acquired by the distance information acquisition unit 28. And the azimuth angle and elevation angle in the shooting direction of the imaging device 10 acquired by the angle information acquisition unit 30 are read from the storage unit 38, and the coordinate value of the imaging target is calculated based on these values. If the distance measurement status monitoring unit 32 determines that distance measurement by the distance measurement device 12 is impossible, the distance value estimated by the distance estimation unit 34 is used. For this calculation, the coordinate value, distance, azimuth angle, and elevation angle of the photographing position determined to have a correspondence relationship based on the identification information are read from the storage unit 38 and used. The calculated coordinate value is added with identification information such as the operation time of the shutter of the photographing apparatus 10 described above and stored in the storage unit 38.

  The storage unit 38 stores the image information with the identification information, the coordinate value of the photographing position with the identification information, and the identification information in a storage device composed of a nonvolatile memory such as a hard disk device or a solid state drive (SSD). Information necessary for each processing of the control device 18 such as the attached distance value, the azimuth angle with the identification information, the elevation angle, and the operation program of the CPU is stored. Further, the coordinate value of the photographing target calculated by the target coordinate calculation unit 36 is also stored in the storage device with identification information. The storage unit 38 includes a digital versatile disc (DVD), a compact disc (CD), a Blu-ray disc (BD), a magneto-optical disc (MO), a flexible disc (FD), a magnetic tape, electrical erasure and rewriting. Possible read only memory (EEPROM), flash memory, etc. may be used.

  The output unit 40 reads out and outputs the image information of the imaging target captured by the imaging apparatus 10 from the storage unit 38 together with the coordinate value of the imaging target calculated by the target coordinate calculation unit 36. In this case, the image information to be imaged and the coordinate values are associated based on the identification information. When the distance measurement status monitoring unit 32 determines that the distance measurement by the distance measurement device 12 is impossible, a notification to that effect is given. A destination to which the output unit 40 outputs the information is, for example, a display device or the like, and displays the image information, a coordinate value of an imaging target, and the like on a liquid crystal display or the like. Moreover, you may display a corresponding map on a display apparatus based on a coordinate value. In this case, for example, based on the coordinate value of the shooting target, the image area of the shooting target is associated with the position of the shooting target on a predetermined map, and the pixel area (1) representing the position of the shooting target with a pointing device as an input device. A configuration in which the image information is displayed by clicking (specifying a region) of (consisting of one or more pixels) is preferable. The image to be photographed can be displayed on a two-dimensional map or a three-dimensional map. The two-dimensional or three-dimensional map information is also stored in the storage unit 36, and the output unit 40 reads and outputs the map information. Further, the notification that the distance measurement is not possible can be performed by continuously or blinking appropriate figures (small circles, etc.) on the display device, displaying with characters, etc., but is not limited thereto.

  The communication unit 42 includes a USB (Universal Serial Bus) port, a network port, and other appropriate interfaces, and is used by the CPU to exchange data with an external device. In addition, it receives image information, distance and angle measurement values, coordinate values, and other information from the imaging device 10, the distance measurement device 12, the angle measurement device 14, and the coordinate measurement device 16, and appropriate instruction information as required. Send.

  FIGS. 3A and 3B are explanatory diagrams of the calculation processing of the target coordinate calculation unit 36 shown in FIG. The portable imaging device according to the present embodiment can be operated by a user's hand. FIGS. 3A and 3B show a case where the user hands the casing 20 of the portable imaging device from a helicopter. This is an example of taking the ground surface and taking a picture.

  FIG. 3A is a plan view defined by the (x, y) coordinates, and a state in which the photographing target P in the direction of the angle α with respect to the true north N from the photographing position C on the helicopter H is photographed. It is shown. Further, a horizontal distance from the shooting position C on the helicopter H, that is, the position of the shooting apparatus 10 of the portable shooting apparatus to the position of the shooting target P is indicated by d. In FIG. 3A, the x direction and the y direction are indicated by arrows.

  FIG. 3B is a side view defined by the (x, z) coordinates, and shows a state in which the photographing target P on the ground surface B below is photographed from the helicopter H flying at an altitude h. . In this case, the shooting direction (the elevation angle direction) is an elevation angle of the angle θ. The distance between the shooting position C and the shooting target P is indicated by D. In FIG. 3B, the x direction and the z direction are indicated by arrows.

  As the azimuth angle α, the elevation angle θ, and the distance D, values measured by the distance measuring device 12 and the angle measuring device 14 are used. When the azimuth angle α measured by the angle measurement device 14 is an angle from magnetic north, a value obtained by correcting the magnetic declination to an angle from true north is used. These values are acquired by the target coordinate calculation unit 36 from the storage unit 38. The distance D may be a distance value estimated by the distance estimation unit 34. The target coordinate calculation unit 36 calculates the coordinate value of the shooting target P using these values and the coordinate value of the shooting position C acquired by the GPS information acquisition unit 26. The calculation formula in this case is as follows.

If the coordinates of the photographing target P are (Xp, Yp, Zp) and the coordinates of the photographing position C are (Xc, Yc, Zc),
Xp = Xc−d · sin α
Yp = Yc + d · cos α (1)
Zp = Zc−D · sin θ.
However, d = D · cos θ and h = D · sin θ.

In addition, when the coordinate value of the imaging position C is acquired by longitude, latitude, and altitude, the coordinate value of the imaging target P is obtained by the following equation (2).
Xp = Xc−d · sin α / Kx
Yp = Yc + d · cos α / Ky (2)
Zp = Zc−D · sin θ
Here, Kx is the distance per degree of longitude at latitude Yc, and Ky is the distance per degree of latitude.

  FIG. 4 shows a flowchart of an example of the distance estimation operation of the control device 18 according to the embodiment. FIG. 5 is an explanatory diagram of distance estimation processing by the distance estimation unit 34 shown in FIG. In the example of FIG. 5, the laser beam of the laser distance meter is irradiated on the water surface Ws, and the distance Ds between the shooting position and the shooting target cannot be measured.

  In FIG. 4, the distance measurement status monitoring unit 32 monitors whether or not the distance measurement by the distance measurement device 12 is impossible (S1), and the distance measurement by the distance measurement device 12 is not disabled ( In the case of Y in S 1), the target coordinate calculation unit 36 reads out the value of the distance between the shooting position of the shooting device 10 and the shooting target acquired by the distance information acquisition unit 28 from the distance measuring device 12 from the storage unit 38 and shots it. It is used for the calculation of the target coordinate value (S2).

  On the other hand, as shown in FIG. 5, when the laser light of the laser distance meter is irradiated on the water surface Ws, the distance measurement by the distance measuring device 12 becomes impossible in S1 (N in S1), and the distance measurement. Based on the operation start instruction signal from the situation monitoring unit 32, the coordinate value of the imaging target immediately before the distance measurement by the distance measuring device 12 becomes impossible (the object coordinate calculation unit 36 last calculated) and the distance measurement is impossible. The measurement result of the elevation angle in the shooting direction (measured by the angle measurement device 14 when it is determined that the distance measurement is performed) and the coordinate value of the shooting position (measured by the coordinate measurement device 16 when it is determined that distance measurement is impossible) Read from the storage unit 38 (S3). At this time, the distance estimation unit 34 also reads out the coordinate value of the current imaging position (when the distance estimation process is executed) and the elevation angle in the imaging direction from the storage unit 38 (S4). Hereinafter, the elevation angle in the current shooting direction is defined as θp.

  In FIG. 5, the photographing position of the photographing device 10 is indicated by A, and the height of the photographing position A is the height (the height of the photographing position) Hc of the portable photographing device brought into the aircraft. The value of Hc is the height (the altitude obtained by subtracting the geoid height from the GPS height or GPS height) measured by the coordinate measuring device 16. Further, the height Hg included in the coordinate value of the subject to be imaged immediately before the distance measurement is disabled, and the height of the water surface Ws is indicated by Hg ′.

  The distance estimation unit 34 determines whether the elevation angle θp in the current shooting direction is larger than a predetermined threshold (S5). The distance Ds from the shooting position A to the shooting target Ws is calculated by the following equation (3). When the value of θp becomes small (that is, approaches the horizontal), the denominator sin (θp) becomes zero. In this case, the error in the difference between the height Hc of the shooting position and the height Hg of the shooting target is greatly enlarged and the value of Ds is calculated. In this case, the reliability of Ds as a calculation result is calculated. Will decline. For this reason, when the elevation angle θp is equal to or smaller than the predetermined threshold value (in the case of N in S5), the coordinate value of the imaging target is not calculated by the target coordinate calculation unit 36 (S6). In this case, only the image information of the shooting target is output from the output unit 40, and the association with the coordinate value of the shooting target is not performed. It is preferable to perform processing such as outputting information indicating that the calculation of the coordinate value of the object to be imaged has not been performed and displaying the information on a display device.

  On the other hand, when the elevation angle θp is larger than the threshold value in S5 (Y in S5), the latest elevation Hg of the imaging target shown in FIG. 5 is equal to the elevation Hg ′ of the water surface Ws (Hg = Hg ′). Assuming that, the distance estimation unit 34 estimates the distance Ds from the shooting position A to the water surface Ws to be imaged according to the following equation (3), and stores it in the storage unit 38 (S7).

  Ds = (Hc−Hg) / sin (θp) (3)

  The distance Ds estimated by the distance estimation unit 34 is read from the storage unit 38 by the target coordinate calculation unit 36, and the coordinate value of the water surface Ws is calculated (S8). The coordinate value calculated at this time is the coordinate value of the position irradiated with the laser beam emitted from the laser distance meter of the distance measuring device 12, such as the center point of the image of the water surface Ws imaged by the imaging device 10. is there.

  The program for executing each step of FIG. 4 described above can be stored in a recording medium, and the program may be provided by communication means. In that case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium recording a program” or an invention of a “data signal”.

  FIG. 6 shows an explanatory diagram in the case where a river area is photographed from an aircraft such as a helicopter with the portable photographing apparatus according to the present embodiment. In FIG. 6, a part of the river R is shown and flows in the direction of the arrow F. In the middle of the river R, there is a state I.

  In the example of FIG. 6, the portable imaging device images a river area along the flight route of the aircraft, and P1 to P8 are shown as imaging points. Photographing is performed in the order of P1 to P8. In FIG. 6, after shooting the points P1, P2, and P3 on the riverbank, two points P4 and P5 are taken in Nakasu I. At these points, the laser beam is reflected from the ground surface with sufficient intensity. Therefore, this corresponds to the case of Y of S1 in FIG. 4 and distance measurement by the distance measuring device 12 is performed.

  On the other hand, the next photographing points P6 and P7 are points on the water surface of the river R and correspond to the case of N in S1 in FIG. For this reason, distance measurement by the distance measuring device 12 becomes impossible. In this case, the operator of the portable photographing apparatus photographs the point L1 on the riverbank in the vicinity of P6 before photographing the photographing point P6. Further, before photographing P7, a point L2 on the riverbank in the vicinity of P7 is photographed. Thereby, when the distance measurement becomes impossible at P6, the coordinate value of the point L1, which is the coordinate value of the object to be imaged immediately before (immediately before the distance measurement becomes impossible), is read from the storage unit 38. When the elevation angle θp described above is equal to or smaller than the threshold value, the altitude Hg of the coordinate value is used, and the distance estimation unit 34 estimates the distance between the imaging position and the imaging point P6 based on the above equation (3). be able to. The same applies to the shooting point P7.

  In the above example, the riverside points L1 and L2 are photographed immediately before the photographing points P6 and P7, but the riverbank points L1 and L2 are photographed immediately after the photographing points P6 and P7. Alternatively, it may be used as the first distance measurement result when distance measurement is resumed after distance measurement becomes impossible. That is, immediately after shooting the shooting points P6 and P7, the riverside points L1 and L2 are shot, the target coordinate calculation unit 36 calculates the coordinate values of the points L1 and L2, and uses the elevation Hg of these coordinate values, The distance estimation unit 34 estimates the distance between the shooting position and the shooting points P6 and P7 based on the above-described equation (3).

  Alternatively, in the case of the shooting point P6, the coordinate value of the latest measurement point P5 is stored instead of L1 or L2, and in the case of the shooting point P7, the coordinate value of the next measurement point P8 (river bank point) is stored. It may be configured to read from the unit 38. Furthermore, when the object to be imaged is the sea level, an altitude of 0 m input by the operator from an input unit (not shown) may be used as the estimated value of the distance estimating unit 34.

  Thereby, it is possible to carry out photographing of the ground surface where the reflectance of the laser light is high and photographing of the water surface where the reflectance is low while measuring the distance with high accuracy.

  DESCRIPTION OF SYMBOLS 10 Image | photographing apparatus, 12 Distance measuring device, 14 Angle measuring device, 16 Coordinate measuring device, 18 Control apparatus, 20 Housing | casing, 22 Gripping member, 24 Image information acquisition part, 26 GPS information acquisition part, 28 Distance information acquisition part, 30 Angle information acquisition unit, 32 distance measurement status monitoring unit, 34 distance estimation unit, 36 target coordinate calculation unit, 38 storage unit, 40 output unit, 42 communication unit.

Claims (3)

Photographing means for photographing a subject in an arbitrary photographing direction from an arbitrary photographing position;
Distance measuring means for measuring a distance between the shooting position and the shooting target;
An elevation angle measuring means for measuring an elevation angle in the imaging direction;
Azimuth measuring means for measuring the azimuth angle in the photographing direction;
Coordinate measuring means for measuring the coordinate value of the photographing position;
Distance measurement status monitoring means for monitoring whether distance measurement by the distance measurement means is impossible;
When it is determined that distance measurement by the distance measurement means is impossible, the distance measurement result measured at the time immediately before the distance measurement becomes impossible or the first time after the distance measurement is resumed and the elevation angle in the photographing direction are measured. The distance measurement is impossible based on the height of the object to be calculated calculated using the measurement result of the result and the coordinate value of the imaging position, the elevation angle and the coordinate value measured when it is determined that the distance measurement is impossible. A distance estimating means for estimating a distance between the shooting position and the shooting target;
An arithmetic means for calculating the coordinates of the photographing object based on the estimated distance and the elevation angle, the azimuth angle, and the coordinate value measured when it is determined that the distance measurement is impossible ;
Display means for displaying that the distance measurement is impossible with respect to the photographing object where the distance measurement is impossible,
A housing for accommodating the photographing means, distance measuring means, elevation angle measuring means, and azimuth angle measuring means;
A portable imaging device comprising: The distance estimation means determines a distance between the imaging position and the imaging object when the elevation angle measured when the elevation angle measurement means determines that the distance measurement is impossible exceeds a predetermined value. The portable imaging device according to claim 1 to be estimated. Computer
Image information acquisition means for acquiring image information obtained by photographing a photographing object in an arbitrary photographing direction from an arbitrary photographing position by the photographing means;
Distance information acquisition means for acquiring a measurement result of the distance between the shooting position and the shooting target by a distance measurement means;
Elevation angle acquisition means for acquiring a measurement result of the elevation angle in the imaging direction;
Azimuth angle obtaining means for obtaining a measurement result of the azimuth angle in the photographing direction;
Coordinate information acquisition means for acquiring the coordinate value of the photographing position;
Distance measurement status monitoring means for monitoring whether distance measurement by the distance measurement means is impossible,
If it is determined that the impossible distance measurement by the distance measuring means, distance measurement impossible to become a distance measurement result measured at the first time point and the photographing direction after or in distance measurement restart time just before elevation depression angle of Based on the measurement result and the measurement result of the coordinate value of the imaging position, the distance measurement is performed based on the height of the imaging target, the elevation angle measured when the distance measurement is determined to be impossible, and the coordinate value. Distance estimation means for estimating a distance between the imaging position and the imaging target, which is impossible;
An arithmetic means for calculating the coordinates of the photographing target based on the estimated distance and the elevation angle, the azimuth angle, and the coordinate value measured when it is determined that the distance measurement is impossible ,
Display means for displaying that the distance measurement is impossible with respect to the photographing object where the distance measurement is impossible,
A shooting program characterized by functioning as

Images