JP6865566B2 - 3D model generator, its program and its method - Google Patents

Description

The present invention relates to a three-dimensional model generation device that generates a three-dimensional model representing indoors using an indoor panoramic image, a program thereof, and a method thereof.

Indoor drawings of the building are widely used for maintenance and renovation work of the building. However, when a field survey of the building is conducted, the indoor drawings may be missing, or there may be a discrepancy between the indoor drawings and the current state of the building. In this case, a surveyor having surveying technology must survey the building and generate an indoor drawing, which takes extra time and cost.

Therefore, a method of three-dimensionally measuring indoors without performing a survey by a surveyor has been proposed (Patent Document 1). The method described in Patent Document 1 is to take a panoramic image indoors and horizontally adjust the taken panoramic image to measure the indoors three-dimensionally.

Japanese Unexamined Patent Publication No. 2015-125002

However, in the method described in Patent Document 1, it is necessary to master the dedicated software for three-dimensional measurement and acquire the coordinates of all the measurement points, which is a high threshold for general users. Therefore, there is a demand for a method capable of generating an indoor drawing by incorporating a three-dimensional model into general BIM (Building Information Modeling) software that general users are accustomed to.

Therefore, in the present invention, a three-dimensional model can be generated by a general user without using dedicated software without performing a survey by a surveyor, and the generated three-dimensional model can be used by general BIM software. An object of the present invention is to provide an apparatus, a program thereof, and a method thereof.

In view of the above-mentioned problems, the three-dimensional model generation device according to the present invention is a three-dimensional model generation device that generates a three-dimensional model representing the indoor using an indoor cubic panoramic image, and is an all-sky sphere. camera and the cubic panoramic image converting means converts the omnidirectional image taken in the cubic panoramic image, the measurement points set in the cubic panoramic image by measuring three-dimensional, in association with the cubic panoramic image, The three-dimensional base model generation means for generating the three-dimensional base model representing the indoor three-dimensional shape and the line segment connecting the measurement points are selected, and the three-dimensional base is based on the selected line segment. From the surface area generation means for generating the indoor surface area in the model, the cutout range selection means for selecting the cutout range from the cubic panoramic image for each surface area of the three-dimensional base model, and the cubic panoramic image. A configuration including an image cutting means for cutting out an image in the cutting range, and a three-dimensional model generating means for generating the three-dimensional model by associating the image in the cutting range with the surface region of the three-dimensional base model. And said.

According to such a three-dimensional model generation device, a three-dimensional model is generated by associating a cut-out image from the panoramic image with each surface region of the three-dimensional base model generated from the indoor panoramic image.

In view of the above-mentioned problems, in the three-dimensional model generation method according to the present invention, the all-sky camera takes an indoor all-sky image, and the transmitting device uses the all-sky image. The all-sky image transmission step of transmitting the above-mentioned to the cloud server, the all-sky image receiving step of receiving the all-sky image from the cloud server, and the three-dimensional model generation device are described above. the omnidirectional image, and panoramic image conversion step of converting into the indoor cubic panoramic image, the three-dimensional model generation apparatus, the measurement points set in the cubic panoramic image by measuring three-dimensional, the cubic panorama A three-dimensional base model generation step for generating a three-dimensional base model representing the indoor three-dimensional shape in association with an image, and the three-dimensional model generation device select a line segment connecting the measurement points. A surface area generation step for generating the indoor surface area in the 3D base model based on the selected line segment, and the 3D model generation device for each surface area of the 3D base model. The cutout range selection step for selecting the cutout range from the cubic panoramic image, the image cutout step for the three-dimensional model generation device to cut out the image of the cutout range from the cubic panorama image, and the three-dimensional model generation device The procedure is to execute the three-dimensional model generation step of generating the three-dimensional model representing the indoor by associating the image of the cutout range with the surface area of the three-dimensional base model.

According to such a three-dimensional model generation method, a three-dimensional model is generated by associating a cut-out image from the panoramic image with each surface region of the three-dimensional base model generated from the indoor panoramic image.

In the present invention, a cut-out image from a panoramic image is associated with each surface region of a three-dimensional base model generated from an indoor panoramic image. Thereby, the present invention can generate a three-dimensional model without using a dedicated software by a general user without performing a survey by a surveyor, and the generated three-dimensional model can be used by general BIM software. ..

It is a schematic block diagram of the 3D model generation system which concerns on embodiment of this invention. It is an external view of an omnidirectional camera. It is explanatory drawing explaining an example of the spherical image. It is a block diagram which shows the structure of the 3D model generation apparatus. It is explanatory drawing explaining the conversion to a cubic panoramic image. It is explanatory drawing explaining an example of a cubic panoramic image, (a) is a front surface, (b) is a right surface, (c) is a left surface, (d) is a rear surface, and (e) is a bottom surface. And (f) is the upper surface. It is explanatory drawing explaining the display example of a cubic panoramic image. It is explanatory drawing explaining the setting of the measurement point on a cubic panoramic image. It is explanatory drawing explaining an example of a 3D base model. It is explanatory drawing explaining the selection of a line segment and the generation of a polygon. It is explanatory drawing explaining the correspondence between a polygon and a cut-out image, (a) is a polygon, and (b) is a cut-out image. It is explanatory drawing explaining the projection of a polygon, (a) is before the projection, and (b) is after the projection. It is explanatory drawing explaining the deformation of the cut-out range, (a) is before the deformation, and (b) is after the deformation. It is explanatory drawing explaining an example of a 3D model. It is a sequence diagram which shows the operation of a 3D model generation system.

[Outline of 3D model generation system]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
The outline of the three-dimensional model generation system 1 according to the embodiment of the present invention will be described with reference to FIG.

The three-dimensional model generation system 1 generates an indoor three-dimensional model using a spherical image taken indoors by the spherical camera 10. As shown in FIG. 1, the three-dimensional model generation system 1 includes an omnidirectional camera 10, a transmission device 20, a cloud server 30, a three-dimensional model generation device 40, and a PC (Personal Computer) 50.

First, the usage of the three-dimensional model generation system 1 will be briefly described.
The person in charge of photography will place a scale (not shown) inside the building to be repaired. The scale (for example, the cross rod) represents the length and is necessary for the three-dimensional measurement described later. The scale is placed vertically along the wall or horizontally along the floor. Next, the person in charge of photographing captures an omnidirectional image with the omnidirectional camera 10. Then, the person in charge of shooting operates the transmission device 20 to upload the shot spherical image to the cloud server 30.

The operator of the 3D model generation device 40 downloads the spherical image from the cloud server 30 to the 3D model generation device 40. Next, the operator operates the three-dimensional model generation device 40 to convert the spherical image into a cubic panoramic image (panoramic image). Then, the operator operates the three-dimensional model generation device 40 to generate an indoor three-dimensional model from the cubic panoramic image. Further, the operator uploads the three-dimensional model generated by the three-dimensional model generation device 40 to the cloud server 30.

The user (general user) of the PC 50 downloads the three-dimensional model from the cloud server 30 to the PC 50. Then, the general user incorporates the downloaded 3D model into the BIM software of the PC50 and generates an indoor drawing. In such a procedure, the three-dimensional model generation system 1 can provide the three-dimensional model to the general user via the cloud server 30, so that the general user does not need to use the dedicated software.

[Configuration of 3D model generation system]
Hereinafter, the configuration of the three-dimensional model generation system 1 will be described.
The spherical camera 10 captures an indoor spherical image and outputs the captured spherical image to the transmission device 20. For example, the omnidirectional camera 10 outputs a omnidirectional image (omnidirectional image file 90) via a recording medium such as an SD card or by using wireless communication.

As shown in FIG. 2, the omnidirectional camera 10 includes an omnidirectional camera main body 11 that captures an omnidirectional image, and a tripod 13 on which the omnidirectional camera main body 11 is placed. Further, as shown in FIG. 3, the spherical image is an image obtained by photographing the entire circumference of 360 ° and 180 ° above and below the spherical camera main body 11.

The transmission device 20 transmits the spherical image taken by the spherical camera 10 to the cloud server 30. For example, examples of the transmitting device 20 include a mobile terminal 21 and a PC 23 having communication functions such as wireless communication and wired communication.
The transmitting device 20 may be provided with either the mobile terminal 21 or the PC 23, and it is not necessary to provide both.

The cloud server 30 is a group of servers constructed in a cloud environment, and stores and transmits / receives spherical images and cubic panoramic images. Specifically, the cloud server 30 accumulates spherical images received from the transmission device 20 and transmits them to the three-dimensional model generation device 40. Further, the cloud server 30 accumulates the three-dimensional model received from the three-dimensional model generation device 40 and transmits the three-dimensional model to the PC 50.

The three-dimensional model generation device 40 converts the spherical panoramic image received from the cloud server 30 into a cubic panoramic image, and uses the converted cubic panoramic image to generate an indoor three-dimensional model. Then, the three-dimensional model generation device 40 transmits the generated three-dimensional model to the cloud server 30.
The details of the three-dimensional model generation device 40 will be described later.

The PC 50 receives a 3D model from the 3D model generator 40, incorporates the received 3D model into BIM software, and generates an indoor drawing. For example, as the PC 50, a computer having communication functions such as wireless communication and wired communication and having general BIM software installed can be mentioned.

[Configuration of 3D model generator]
The configuration of the three-dimensional model generation device 40 will be described with reference to FIG.
As shown in FIG. 4, the three-dimensional model generation device 40 includes an image transmission / reception means 41, a cubic panorama image conversion means 42, a three-dimensional base model generation means 43, a polygon generation means (plane area generation means) 44, and the like. A cutout range selection means 45, an image cutout means 46, and a three-dimensional model generation means 47 are provided.

The image transmission / reception means 41 transmits / receives spherical images and panoramic images to / from the cloud server 30. Specifically, the image transmitting / receiving means 41 receives the spherical image from the cloud server 30 and outputs the received spherical image to the panoramic image converting means 42. Further, the image transmission / reception means 41 transmits the three-dimensional model input from the three-dimensional model generation means 47 to the cloud server 30.

The cubic panorama image conversion means 42 converts the spherical image input from the image transmission / reception means 41 into a cubic panorama image. As shown in FIG. 3, the spherical image is distorted and is not suitable for generating a three-dimensional model. Therefore, the cubic panorama image conversion means 42 converts the spherical image into a distortion-free cubic panorama image.

As shown in FIG. 5, the cubic panoramic image is an image obtained by projecting a spherical image inside each surface (upper surface, lower surface, left surface, right surface, front surface, rear surface) of a regular hexahedron. For example, in the cubic panoramic image, as shown in FIG. 6, the spherical image is pasted on the inside of each surface of the regular hexahedron of FIG. FIG. 6A is the front surface of the cubic panoramic image, FIG. 6B is the right side of the cubic panoramic image, and FIG. 6C is the left side of the cubic panoramic image. Further, FIG. 6 (d) is the rear surface of the cubic panoramic image, FIG. 6 (e) is the lower surface of the cubic panoramic image, and FIG. 6 (f) is the upper surface of the cubic panoramic image.

A cubic panorama image is input from the cubic panorama image conversion means 42 to the three-dimensional base model generation means 43. Then, the three-dimensional base model generation means 43 generates a three-dimensional base model representing an indoor three-dimensional shape in association with the panoramic image by three-dimensionally measuring the measurement points set in the cubic panoramic image. Is what you do.

Specifically, the three-dimensional base model generation means 43 horizontally adjusts the cubic panoramic image and sets a measurement point on the horizontally adjusted cubic panoramic image. Here, the three-dimensional base model generation means 43 accurately adjusts the level by software.

Next, the three-dimensional base model generation means 43 displays a horizontally adjusted cubic panoramic image on a display means such as a display (not shown), as shown in FIG. 7. Then, the operator sets (inputs) the measurement point P on the cubic panoramic image as shown in FIG. 8 via an operating means such as a mouse or a keyboard (not shown). Further, the operator sets a line segment connecting the measurement points P on the cubic panoramic image via the operating means. This line segment represents an indoor boundary (eg, the boundary between the floor and the wall).

In the example of FIG. 8, the operator sets the measurement points P1 to P4 in the indoor corner. Further, the operator sets a line segment connecting the measurement points P1 and P2, a line segment connecting the measurement points P2 and P3, a line segment connecting the measurement points P3 and P4, and a line segment connecting the measurement points P4 and P1. Yes (shown by thick line).
Although FIG. 8 shows an example of setting the measurement points P1 to P4 and their line segments, it goes without saying that the operator sets all the necessary measurement points P and the line segments.

Then, the three-dimensional base model generation means 43 back-projects the measurement points P1 to P4 onto a horizontal plane having a known height, thereby three-dimensionally measuring the coordinates of the measurement points P1 to P4 on the horizontal plane. Further, the three-dimensional base model generating means 43 back-projects the points located on the vertical lines of the measured measurement points P1 to P4 onto the vertical lines, so that the coordinates of the measurement points P1 to P4 in the height direction are set to 3. Measure the dimensions. Then, the three-dimensional base model generation means 43 combines the coordinates in the horizontal plane and the height direction to obtain the three-dimensional coordinates of the measurement points P1 to P4.
Since the details of the three-dimensional measurement are described in, for example, Japanese Patent Application Laid-Open No. 2015-125002, further description thereof will be omitted.

Since the measurement points P1 to P4 are set on the cubic panoramic image, the image coordinates of the measurement points P1 to P4 are known. Further, the three-dimensional coordinates of the measurement points P1 to P4 are obtained at the time of the three-dimensional measurement. That is, the measurement points P1 to P4 associate the image coordinates of the cubic panoramic image with the three-dimensional coordinates of the three-dimensional base model.

As shown in FIG. 9, the three-dimensional base model BM is a model in which the measurement point P and the line segment connecting the measurement points P represent the indoor shape. That is, the three-dimensional base model BM represents only the indoor shape and does not represent information other than the shape (for example, the material of the floor surface).

The polygon generation means 44 causes the operator to select a line segment connecting the measurement points P, and generates a polygon in the three-dimensional base model BM based on the selected line segment. For example, the polygon generation means 44 superimposes the cubic panoramic image and the three-dimensional base model BM and displays them on the display means (see FIG. 8). Then, the operator selects a line segment on the three-dimensional base model BM via the operating means.

<Selection of line segment, generation of polygon>
With reference to FIG. 10, the selection of the line segment and the generation of the polygon by the polygon generation means 44 will be described in detail.
In the present embodiment, the operator selects all the line segments L required for generating the polygon A from the line segments set by the three-dimensional base model generating means 43. At this time, the operator selects a continuous line segment L so as to surround the polygon of the three-dimensional base model BM clockwise. For example, as shown in FIG. 10, the operator sequentially selects a line segment L1 connecting the measurement points P1 and P2 and a line segment L2 connecting the measurement points P2 and P3. Next, the operator sequentially selects the line segment L3 connecting the measurement points P3 and P4 and the line segment L4 connecting the measurement points P4 and P1. As a result, the polygon generation means 44 generates the surface region surrounded by the clockwise line segments L1 to L4 as the polygon A.

Although the example of selecting the line segment L1 first has been described, any of the line segments L2, L3, and L4 may be selected first as long as they are continuous in the clockwise direction.
Further, the polygon generating means 44 does not accept the selection when the selection order of the line segment L is counterclockwise as in the line segments L4 to L1. Further, in the polygon generation means 44, when the line segment L is discontinuous like the line segments L1, L3, L2, L4, or the line segment L does not surround a specific region like the line segments L1, L2. If so, the selection will not be accepted.
Further, the polygon generating means 44 does not accept the selection even when the number of continuous line segments L is 3 or less, that is, when the area surrounded by the line segments L is a triangle. On the other hand, when the polygon generation means 44 has four or more continuous line segments L, the polygon generation means 44 accepts the selection.

Identification information (for example, '100', '101') that uniquely identifies the polygon A is added to each polygon A. Further, as shown in FIG. 11A, the polygon A can be represented by a combination of four or more line segments L. For example, the polygon A1 can be represented by a combination of line segments L1 to L4. Here, the polygon A has a front surface and a back surface, and the line segment L becomes the front surface in the order of being selected clockwise. For example, the surface of the polygon A1 is the side in which the line segments L1 to L4 are arranged in this order. Further, a cutout image described later can be associated (pasted) on the surface of the polygon A. In this way, the three-dimensional base model BM can express an indoor shape by combining polygons A.

<Projection of polygons>
The projection of the polygon A by the polygon generating means 44 will be described in detail with reference to FIG.
As shown in FIG. 12A, in the polygon A, the measurement point P and the line segment L may not be located on the same reference plane due to an error in the three-dimensional measurement. Here, the reference plane is a vertical plane (XY plane in FIG. 12) or a horizontal plane (XY plane in FIG. 12). In FIG. 12A, the measurement points P2 and the line segments L1 and L2 are not located on the vertical plane which is the reference plane. In this case, the polygon generating means 44 refers to the coordinates of the measurement point P2 and determines that the measurement point P2 is not located on the vertical plane. Then, as shown in FIG. 12B, the polygon generating means 44 projects the measurement points P2 determined not to be located on the vertical plane and the line segments L1 and L2 having the measurement points P2 as end points on the vertical plane. To do.
In FIG. 12, only the three-dimensional base model BM is shown and the cubic panoramic image is omitted in order to make the drawing easier to see.

Returning to FIG. 4, the configuration of the three-dimensional model generation device 40 will be described.
The cutout range selection means 45 causes the operator to select a cutout range from the panoramic image for each polygon of the three-dimensional base model BM. For example, the cutout range selection means 45 superimposes the cubic panoramic image and the three-dimensional base model BM and displays them on the display means. Then, the operator selects the polygon to be the cutout range on the three-dimensional base model BM via the operation means. At this time, it goes without saying that the operator selects all the necessary polygons.

The image cutting means 46 cuts out the image of the cutting range input from the cutting range selecting means 45 from the cubic panoramic image.
As described above, the measurement point P associates the three-dimensional coordinates of the three-dimensional base model BM with the image coordinates of the cubic panoramic image. Therefore, as shown in FIG. 11B, the image cutting means 46 obtains the image coordinates of the measurement points P1 to P4 constituting the polygon A selected as the cutting range. Then, the image cutting means 46 cuts out the image of the cutting range specified by the image coordinates of the measurement points P1 to P4 from the cubic panoramic image.

<Transformation of cutting range>
With reference to FIG. 13, the deformation of the cutting range by the image cutting means 46 will be described in detail.
As shown in FIG. 13A, the cutting range may be 5 or more sides. In this case, the image cropping means 46 converts the cropping range into a quadrangular shape circumscribing the cropping range, as shown in FIG. 13 (b). Then, the image cutting means 46 cuts out the image of the cutting range converted into a quadrangular shape from the cubic panoramic image.

Here, when the cutout range of FIG. 13A corresponds to the floor surface, the area B expanded when deformed into a quadrangular shape is a structure (for example, a pillar) other than the floor surface in the three-dimensional base model BM. Exists. That is, the structure other than the floor surface is included in the image of another cutout range. Therefore, the image cropping means 46 does not use the portion of the expanded region B.

Returning to FIG. 4, the configuration of the three-dimensional model generation device 40 will be described.
The 3D model generating means 47 associates the cutout image input from the image cutting means 46 with the polygon of the 3D base model BM input from the 3D base model generating means 43, so that the indoor 3D model M (Fig. 14) is generated. As shown in FIG. 14, the three-dimensional model M is composed of a three-dimensional base model BM, an image file of each polygon, and an image arrangement location file.

As described above, the polygon of the three-dimensional base model BM and the cutout range of the cubic panoramic image are associated with each other at the measurement point P. Therefore, as shown in FIG. 14, the three-dimensional model generation means 47 associates the indoor wall in the three-dimensional base model BM with the cut-out image of the wall. Further, the three-dimensional model generation means 47 associates the floor or ceiling in the three-dimensional base model BM with the cut-out image of the floor or ceiling, similarly to the wall. After that, the three-dimensional model generation means 47 generates an image arrangement location file representing an arrangement location of an image file (for example,'wall.jpg') corresponding to each polygon such as a wall, a floor, and a ceiling.

As described above, the three-dimensional model generation device 40 according to the embodiment of the present invention converts the indoor spherical image into a cubic panoramic image, and generates a three-dimensional base model BM from the converted cubic panoramic image. Then, the three-dimensional model generation device 40 generates the three-dimensional model M by associating the cut-out image from the cubic panoramic image with each polygon of the generated three-dimensional base model BM. As described above, the three-dimensional model generation device 40 does not need to perform the survey by the surveyor, does not need to arrange the surveyor and adjust the time of the survey work, and can generate the three-dimensional model M in a short time and at low cost.

Further, the three-dimensional model generation device 40 can efficiently generate the three-dimensional model M without going back and forth when acquiring the coordinates of all the measurement points, unlike the conventional dedicated software.

[Operation of 3D model generation system]
The operation of the three-dimensional model generation system 1 will be described with reference to FIG. 15 (see FIG. 4 as appropriate).
The spherical camera 10 captures an indoor spherical image (step S1: spherical image capturing step), and outputs the captured spherical image to the transmission device 20 (step S2).
The transmission device 20 transmits the spherical image input in step S2 to the cloud server 30 (step S3: spherical image transmission step).

The image transmission / reception means 41 of the three-dimensional model generation device 40 receives the spherical image from the cloud server 30 (step S4: spherical image reception step).
The cubic panoramic image conversion means 42 of the three-dimensional model generation device 40 converts the spherical image received in step S4 into a cubic panoramic image (step S5: panoramic image conversion step).

The 3D base model generation means 43 of the 3D model generation device 40 sets a measurement point P and a line segment on the cubic panoramic image, and measures the set measurement point P in 3D to obtain an indoor 3D base model. Generate BM (step S6: 3D base model generation step).
The polygon generation means 44 of the 3D model generation device 40 causes the operator to select a line segment L connecting the measurement points P, and generates a polygon in the 3D base model BM based on the selected line segment L. (Step S7: Polygon generation step).

The cutout range selection means 45 of the 3D model generation device 40 causes the operator to select a cutout range for each polygon of the 3D base model BM (step S8: cutout range selection step).
The image cutting means 46 of the three-dimensional model generation device 40 cuts out an image in the cutting range selected in step S8 from the cubic panoramic image (step S9: image cutting step).

The 3D model generation means 47 of the 3D model generation device 40 generates an indoor 3D model M by associating the image cut out in step S9 with the polygon of the 3D base model BM generated in step S7. (Step S10: 3D model generation step).
The image transmission / reception means 41 of the three-dimensional model generation device 40 transmits the three-dimensional model M generated in step S10 to the cloud server 30 (step S11).

The PC 50 receives the three-dimensional model M from the cloud server 30 (step S12).
The PC 50 incorporates the three-dimensional model M received in step S12 into the BIM software and generates an indoor drawing (step S13).

As described above, the three-dimensional model generation system 1 according to the embodiment of the present invention converts the indoor spherical image into a cubic panoramic image, and generates a three-dimensional base model BM from the converted cubic panoramic image. Then, the three-dimensional model generation system 1 generates the three-dimensional model M by associating the cut-out image from the cubic panoramic image with each polygon of the generated three-dimensional base model BM. As described above, the three-dimensional model generation system 1 does not need to perform the survey by the surveyor, does not need to arrange the surveyor and adjust the time of the survey work, and can generate the three-dimensional model M in a short time and at low cost.

Further, in the 3D model generation system 1, a general user generates a 3D model with the 3D model generation device 40 without using dedicated software, and incorporates the generated 3D model into the BIM software of the PC 50 for use. be able to.

Further, the three-dimensional model generation system 1 can provide a mechanism for performing a series of operations from the acquisition of the spherical image to the generation of the three-dimensional model M and the generation of the indoor drawing easily and in a short time.
Further, the three-dimensional model generation system 1 is excellent in safety because the spherical image and the three-dimensional model M can be transmitted and received in a secure environment via the cloud server 30.
Further, since the three-dimensional model generation system 1 can take a spherical image in a short time, it is not necessary to perform a long-time surveying work indoors, which is excellent in convenience.

[Modification example]
Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and includes design changes and the like within a range that does not deviate from the gist of the present invention.
In the above-described embodiment, the three-dimensional model is transmitted to the delivery destination, but the destination of the three-dimensional model is not particularly limited.

In the above-described embodiment, the three-dimensional model generation device may edit, delete, and divide polygons. For example, the operator can move, add, or delete polygon nodes (measurement points) as a polygon editing operation.

In the above-described embodiment, the three-dimensional model generation device may display the generated three-dimensional model on the display means. As a result, the operator can confirm the generated three-dimensional model, which is excellent in convenience.

In the above-described embodiment, the three-dimensional model generator has been described as independent hardware, but the present invention is not limited thereto. For example, the three-dimensional model generation device can also be realized by a three-dimensional model generation program in which hardware resources such as a CPU, a memory, and a hard disk included in a computer are cooperatively operated as the above-mentioned means. This program may be distributed via a communication line, or may be written and distributed on a recording medium such as a CD-ROM or a flash memory.

1 3D model generation system 10 Spherical camera 20 Transmission device 30 Cloud server 40 3D model generation device 41 Image transmission / reception means 42 Cubic panorama image conversion means 43 3D base model generation means 44 Polygon generation means (plane area generation means)
45 Cutout range selection means 46 Image cutout means 47 Three-dimensional model generation means

Claims (6)

It is a three-dimensional model generation device that generates a three-dimensional model representing the indoor using an indoor cubic panoramic image.
A cubic panorama image conversion means for converting an all-sky panoramic image taken by a spherical camera into the cubic panorama image, and
By measuring the cubic panorama measurement points set in the image a three-dimensional, in association with the cubic panoramic image, and a three-dimensional base model generating means for generating a three-dimensional base model representing the three-dimensional shape of the interior ,
A surface region generating means for selecting a line segment connecting the measurement points and generating the indoor surface region in the three-dimensional base model based on the selected line segment.
A cutting range selection means for selecting a cutting range from the cubic panoramic image for each surface region of the three-dimensional base model, and
An image cutting means for cutting out an image in the cutting range from the cubic panoramic image, and
A three-dimensional model generation means for generating the three-dimensional model by associating the image of the cutout range with the surface region of the three-dimensional base model,
A three-dimensional model generator, which comprises. The surface area generation means selects continuous line segments so as to surround the surface area of the three-dimensional base model in a clockwise direction, and the surface area surrounded by the line segments that are continuous in the clockwise direction is the three-dimensional base. The three-dimensional model generation device according to claim 1, wherein the three-dimensional model is generated in a model. The surface region generation means projects the line segment and the measurement point onto the same reference plane when the clockwise continuous line segment and the measurement point of the line segment are not located on the same reference plane. The three-dimensional model generator according to claim 2. It is a three-dimensional model generation device that generates a three-dimensional model representing the indoor using an indoor cubic panoramic image.
A three-dimensional base model generation means for generating a three-dimensional base model representing the indoor three-dimensional shape in association with the cubic panoramic image by three-dimensionally measuring the measurement points set in the cubic panoramic image. ,
A surface region generating means for selecting a line segment connecting the measurement points and generating the indoor surface region in the three-dimensional base model based on the selected line segment.
A cutting range selection means for selecting a cutting range from the cubic panoramic image for each surface region of the three-dimensional base model, and
An image cutting means for cutting out an image in the cutting range from the cubic panoramic image, and
A three-dimensional model generation means for generating the three-dimensional model by associating the image of the cutout range with the surface region of the three-dimensional base model is provided.
When the cutout range has five or more sides, the image cutting means converts the cutout range into a quadrangular shape circumscribing the cutout range, and cuts out the converted image of the cutout range from the cubic panoramic image. a three-dimensional model generating device you. A three-dimensional model generation program for causing a computer to function as the three-dimensional model generation device according to any one of claims 1 to 4. An omnidirectional image shooting step in which the omnidirectional camera captures an indoor spherical image,
The spherical image transmission step in which the transmission device transmits the spherical image to the cloud server,
A spherical image receiving step in which the three-dimensional model generator receives the spherical image from the cloud server, and
A panoramic image conversion step in which the three-dimensional model generator converts the spherical image into the indoor cubic panoramic image, and
The three-dimensional model generation apparatus, the cubic panorama measurement points set in the image by measuring a three-dimensional, in association with the cubic panoramic image, generates the three-dimensional base model representing the three-dimensional shape of the interior 3D base model generation step and
The three-dimensional model generation device selects a line segment connecting the measurement points, and based on the selected line segment, the surface area generation step of generating the indoor surface area in the three-dimensional base model. ,
A cutout range selection step in which the three-dimensional model generator selects a cutout range from the cubic panoramic image for each surface region of the three-dimensional base model.
An image cutting step in which the three-dimensional model generation device cuts out an image in the cutting range from the cubic panoramic image, and
The three-dimensional model generation device generates a three-dimensional model representing the interior by associating the image of the cutout range with the surface area of the three-dimensional base model.
A three-dimensional model generation method characterized by executing.

Images