JP7619783B2 - Graphic Registration System - Google Patents

Description

This invention is a technology for managing objects that users should focus on, such as cracks, signs, and illegal road occupancies (hereinafter simply referred to as "objects of interest"). More specifically, it relates to a graphic registration system that uses 3D models and single photographs to create graphics of objects of interest.

Those who manage specific facilities, such as road and river managers, regularly inspect those facilities to see if there are any abnormalities and record the results of those inspections. For example, road managers inspect concrete structures such as road surface pavement and retaining walls to see if there are any abnormalities such as cracks, conduct facility inspections of road signs and lighting, and monitor to see if any illegal objects have been installed on roads they manage, and keep records of each inspection.

When managing roads, rivers, etc., the target area is generally vast (long). For this reason, in addition to the results of inspections (such as the presence or absence of abnormalities), what is important is the location of the "objects of interest" such as cracks, signs, and illegal road occupancy. Furthermore, along with the location, the shape of the object of interest is often useful information. In other words, more effective management work can be carried out by recording the attribute information of the object of interest (such as inspection results) along with information such as its location and shape.

On the other hand, because the areas subject to management of roads, rivers, etc. are vast, it is not realistic to frequently inspect or investigate the entire area. On the other hand, it is easier to carry out quality management work by inspecting more frequently. For this reason, instead of direct visual inspections on-site, it is possible to carry out inspections using photographs. In other words, first take photographs of the area to be managed, and then visually inspect the photographs to obtain the necessary information. This allows inspections to be carried out in an office, etc., without having to go to the site, and investigation results to be obtained more frequently.

Photogrammetry technology can also be used to determine the position of an object of interest, and the shape of the object of interest can be extracted by tracing a photograph. Management methods that use photogrammetry technology have been proposed in the past; for example, Patent Document 1 proposes a technology that determines the coordinates of an object by photogrammetry and manages various types of photogrammetry data in general.

JP 10-246630 A

By the way, when visually inspecting photographs to extract cracks, for example in road pavement, it is necessary to check a large number of photographs. This requires a considerable amount of effort and time, and human error, such as overlooking something, is unavoidable. This is mainly due to the need to check each photograph one by one. For example, if there were wide-area photographs that could provide an overview of the managed area, the effort required for inspection and human error could be reduced.

The inventors of this application therefore focused on using a 3D model of the managed object. Using a 3D model makes it possible to check the road as a continuous flow, and by manipulating the 3D model it is possible to view it from the desired viewpoint, which significantly reduces the amount of work required and makes it easier to avoid human error.

However, even when visually inspecting a 3D model equipped with color information (e.g., RGB), it can be difficult to clearly extract the shape of cracks, etc. This is because 3D models equipped with color information generally have a lower resolution than a single photograph. For this reason, it is still preferable to use a single photograph when extracting the shape of cracks, etc. However, a single photograph alone does not allow the position of the cracks, etc. (in this case, their position in the managed object) to be grasped. In other words, when a 3D model is used, the position of the cracks, etc. can be grasped but it is difficult to grasp their shape, whereas when a single photograph is used, it is easy to extract the shape of the cracks, etc. but it is not possible to grasp their position.

The objective of the present invention is to solve the problems of the past, that is, to provide a graphic registration system that can graphically represent an object of interest while taking advantage of the respective advantages of a 3D model and a single photograph.

The present invention is based on a previously unconventional idea that uses a three-dimensional model to determine the position of an object of interest, and a single photograph to trace the shape of the object of interest, thereby generating a diagram of the object of interest that contains information on its position and shape.

The graphic registration system of the present invention comprises a three-dimensional model storage means, a single photograph storage means, a graphic input means, a graphic position calculation means, a graphic storage means, and a single photograph extraction means. Of these, the three-dimensional model storage means is a means for storing a three-dimensional model of the target terrain, the single photograph storage means is a means for storing a plurality of single photographs taken of the target terrain, and the graphic input means is a means for an operator to input a graphic to the three-dimensional model displayed on the display means. The graphic position calculation means is a means for calculating the position of the graphic in three-dimensional space, the graphic storage means is a means for storing the input graphic together with the position calculated by the graphic position calculation means, and the single photograph extraction means is a means for extracting a specific single photograph based on the graphic. The single photographs are stored together with the photographing position and posture, and the single photograph extraction means extracts a single photograph including a graphic from the plurality of single photographs stored in the single photograph storage means.

The graphic registration system of the present invention may further include a photographing location display means for displaying the photographing location of a single photograph with a frame line (or surface). This photographing location display means displays the frame line, etc. on the three-dimensional model at a position corresponding to the photographing position, and also displays the frame line, etc. on the three-dimensional model at an inclination corresponding to the photographing posture.

The graphic registration system of the present invention can also calculate the position of a graphic in a single photograph. In this case, the single photograph extracted by the single photograph extraction means is displayed on the output means together with the graphic.

The graphic registration system of the present invention can further include a single photo selection means and a graphic adjustment means. The single photo selection means is a means for the operator to select a desired single photo from among the single photos extracted by the single photo extraction means, while the graphic adjustment means is a means for the operator to adjust the graphic. In this case, the single photo selected by the single photo selection means is displayed together with the graphic in a separate window, and when the operator adjusts the graphic of the single photo displayed in the separate window, the graphic on the 3D model and the graphics in the other single photos are also adjusted.

The shape registration system of the present invention can also display two single photographs selected by the operator side-by-side in a separate window. In this case, the operator can adjust the shape while viewing the two single photographs in a stereoscopic view in the separate window.

The graphic registration system of the present invention may further include an attribute information input means for an operator to input attribute information for the graphic. In this case, the graphic storage means stores the graphic together with the input attribute information.

The graphic registration system of the present invention may be configured such that a server is provided with a 3D model storage means, a single photo storage means, a graphic position calculation means, a graphic storage means, and a single photo extraction means, and a graphic input means is provided in a terminal device connected to the server via a network. In this case, an operator can input a graphic while visually checking the 3D model displayed on the display means of the terminal device.

The graphic registration system of the present invention has the following advantages.
(1) By using a 3D model, for example, a road can be confirmed as a series of steps, and the 3D model can be manipulated to view it from a desired viewpoint. As a result, the work effort is significantly reduced and human error is easily avoided.
(2) When a figure is input onto the 3D model, its position information is obtained, and candidates for single photos to be confirmed are presented, which also significantly reduces the amount of work required and makes it easier to avoid human error.
(3) Since the shape of an object of interest (such as a crack) can be traced while visually viewing a high-resolution single photograph, a more accurate diagram of the object of interest can be generated.

1 is a block diagram showing the main configuration of a graphic registration system according to the present invention; FIG. 13 is a model diagram showing a shooting parameter frame corresponding to the shooting parameters. FIG. 1 is a block diagram showing a diagram registration system of the present invention which is composed of a server and a terminal. FIG. 2 is a flowchart showing a main process flow of the graphic registration system of the present invention. FIG. 13 is a screen diagram showing a state in which a 3D model, an inputted figure, candidate single photographs, and a shooting specification frame are displayed on a display means. FIG. 13 is a screen diagram showing the state in which the two selected single photographs are displayed as stereo images in separate windows. A screen shot showing a situation in which, when the shape of one selected single photograph is adjusted, the shape of the other selected single photograph is similarly adjusted. A screen shot showing a situation where adjusting the shape of one selected single photograph does not adjust the shape of the other selected single photograph.

An example of the graphic registration system of the present invention is explained with reference to the drawings.

Figure 1 is a block diagram showing the main components of a graphic registration system 100 according to the present invention. As shown in this figure, the graphic registration system 100 includes a graphic input means 101, a graphic position calculation means 102, a single photo extraction means 103, a 3D model storage means 109, a single photo storage means 110, and a graphic storage means 111, and can also include a photography location display means 104, a single photo selection means 105, a graphic adjustment means 106, an attribute information input means 107, and a display means 108.

The graphic input means 101, graphic position calculation means 102, single photo extraction means 103, shooting location display means 104, single photo selection means 105, graphic adjustment means 106, and attribute information input means 107 that constitute the graphic registration system 100 can be manufactured as dedicated devices, or a general-purpose computer device can be used. This computer device is equipped with a processor such as a CPU, memories such as ROM and RAM, and some also include input means such as a mouse and keyboard, and a display, and can be configured, for example, by a personal computer (PC) or a server.

The 3D model storage means 109, single photo storage means 110, and graphic storage means 111 can use the storage device of a general-purpose computer (for example, a personal computer), or can be built in a database server. If built in a database server, they can be placed on a local network (LAN: Local Area Network), or can be a cloud server that stores data via the Internet (i.e., wireless communication).

Below, we will explain in detail each of the main elements that make up the shape registration system 100 of the present invention.

(3D model storage means)
The 3D model storage means 109 stores a three-dimensional model (hereinafter referred to as a "3D model") of the terrain targeted by the user (hereinafter simply referred to as the "target terrain"). Here, the 3D model is a representation of the target terrain in three-dimensional coordinates, and is a terrain model such as a DSM (Digital Surface Model) or a DEM (Digital Elevation Model).

A 3D model is usually composed of multiple meshes. A mesh is, for example, a mesh that is divided into orthogonal grids, and each mesh has a representative point. Since a point cloud obtained by measurement (for example, laser measurement) is often random data, geometric calculation is often performed to assign height to the representative point of the mesh. This calculation method can be a TIN (Triangulated Irregular Network) method that determines height using an irregular triangular mesh formed from random data, a nearest neighbor method that uses the nearest laser measurement point 4, or other conventional methods such as the inverse distance weighting method (IDW), the Kriging method, and the averaging method. Note that the 3D model is not limited to laser measurement, and can be constructed by various methods including photogrammetry, and it is particularly preferable to use a 3D model that has color information such as RGB obtained from a photograph or the like. The 3D model used here may be constructed for the present invention, or of course, an existing one can be used.

(Single Photo Storage Means)
The single photograph storage means 110 stores individual single photographs obtained by photographing various parts of the target terrain. Usually, the range of the target terrain is vast, and therefore the number of single photographs is large, that is, the single photograph storage means 110 stores a large number of single photographs. In the graphic registration system 100 of the present invention, it is preferable to use adjacent single photographs that partially overlap (overlap or side lap). The single photograph storage means 110 also stores the single photograph together with the photographing position (three-dimensional coordinates: X, Y, Z) and photographing attitude (yaw ω, pitch φ, roll κ) at the time when the single photograph was taken, that is, by associating (linking) the photographing position and the photographing attitude. In other words, each single photograph stored in the single photograph storage means 110 has information on the photographing position and the photographing attitude.

(Graphic input means)
The graphic input means 101 is a means by which an operator inputs a graphic onto a 3D model, and is a means by which the operator can input a graphic in a desired shape at a desired position using a pointing device (mouse, touch panel, pen tablet, touch pad, track pad, track ball, etc.), a keyboard, etc. while visually viewing the 3D model displayed on the display means 108 such as a liquid crystal display. For example, when a crack (target object) in the asphalt road surface is found on the displayed 3D model, the operator uses the pointing device to trace the crack, i.e., input the graphic. Note that the graphic here includes various shapes such as points, lines, and surfaces (polygons).

(Graphic position calculation means)
The figure position calculation means 102 is a means for calculating the position (three-dimensional coordinates) of figure data (hereinafter simply referred to as "figure data") input by an operator, and performs coordinate calculation processing when the operator inputs the figure or when the operator's instruction operation is used as a trigger. Of course, if the figure is a point, the coordinates of the point are calculated, if the figure is a line, the coordinates of the line segments are calculated, and if the figure is a polygon, the coordinates of the faces are calculated. The coordinates calculated by the figure position calculation means 102 are coordinates in a three-dimensional coordinate system (three-dimensional space) set in the 3D model, and therefore, the necessary information is read from the 3D model storage means 109 before the coordinate calculation processing is performed (FIG. 1). The coordinates calculated here (hereinafter referred to as "figure position" for convenience) are associated (linked) with the input figure data and then stored in the figure storage means 111 (FIG. 1).

(Attribute information input means)
The attribute information input means 107 is a means by which an operator inputs attribute information related to the input graphic data, and can utilize a pointing device, a keyboard, or the like, as with the graphic input means 101. For example, attribute information can be input, such as that the graphic data is a crack, the date and time when the crack was discovered, the crack dimensions, and the person who inputted it. The attribute information input here is associated (linked) with the input graphic data and stored in the graphic storage means 111 (FIG. 1).

(Single Photo Extraction Means)
The single photograph extraction means 103 is a means for extracting a single photograph including graphic data input by an operator from among a large number of single photographs stored in the single photograph storage means 110. As already explained, since a single photograph has a photographing position and a photographing attitude (hereinafter referred to as "photographing specifications"), the position (photographing range) of the single photograph can be calculated by using a 3D model. In other words, if a photograph is taken with the photographing specifications, it is possible to grasp which range of the target terrain (i.e., the 3D model) is the target. Specifically, the photographing range of the single photograph in the three-dimensional coordinate system of the 3D model is calculated based on the photographing specifications of the 3D model and the single photograph.

The single photo extraction means 103 uses the graphic data input by the operator as a "clue," so to speak, to extract the desired single photo. Specifically, it compares the graphic position calculated by the graphic position calculation means with the shooting range of the single photo (Figure 1), and extracts single photos that contain graphic data within that shooting range. Therefore, there are cases where the number of single photos extracted here (hereinafter, for convenience, referred to as "candidate single photos") is one, and cases where it is two or more.

The candidate single photographs extracted by the single photograph extraction means 103 are displayed on the display means 108 together with the 3D model. At this time, since the graphic position and the shooting range of the single photograph are each expressed in the same three-dimensional coordinate system, the position of the graphic data within the candidate single photograph can also be obtained. Therefore, it is preferable that the candidate single photographs displayed on the display means 108 include the graphic data input by the operator.

(Shooting location display means)
The photographing location display means 104 is a means for showing the photographing parameters of the candidate single photographs extracted by the single photograph extraction means 103, and displays a shape (hereinafter referred to as a "photographing parameter frame") set according to the photographing position and the photographing posture on the display means 108 together with the 3D model. More specifically, as shown in FIG. 2, the photographing parameter frame is displayed on the 3D model (i.e., in the three-dimensional coordinate system of the 3D model) at a position according to the photographing position and at an inclination according to the photographing posture. FIG. 2 shows an example in which a single photograph is taken at five points (points A to E), and the photographing parameters at point A are displayed on the display means 108 as photographing parameter frame A, and similarly, the photographing parameters at point B are displayed as photographing parameter frame B, the photographing parameters at point C are displayed as photographing parameter frame C, the photographing parameters at point D are displayed as photographing parameter frame D, and the photographing parameters at point E are displayed as photographing parameter frame E. The shooting parameter frame can be configured as a frame line (i.e., a line) or as a surface (i.e., a polygon).

(Method of selecting single photo)
The single photo selection means 105 is a means for an operator to select a desired candidate single photo from among the candidate single photos extracted by the single photo extraction means 103, and can utilize a pointing device, a keyboard, or the like, as with the graphic input means 101 and the attribute information input means 107. When selecting a candidate single photo from among the candidate single photos, the desired candidate single photo can be designated from among the candidate single photos displayed on the display means 108 together with the 3D model, or in addition (or instead) from among the shooting specification frames displayed on the display means 108 together with the 3D model. Furthermore, when a candidate single photo is designated, the position (shooting range) of the single photo can be displayed on the 3D model using coloring, etc.

The candidate single photos selected by the operator (hereinafter, for convenience, referred to as "selected single photos") are displayed on the display means 108, and are displayed in a separate window from the 3D model. At this time, when two selected single photos are selected from the candidate single photos, these two selected single photos are displayed side-by-side in a separate window. Therefore, when the two selected single photos partially overlap each other (overlap or side-lap), these selected single photos are displayed as stereo images, which is convenient because the operator can actually see the object of interest (e.g., a crack) in the selected single photos.

(Graphic Adjustment Means)
The graphic adjustment means 106 is a means for an operator to adjust the graphic data in the selected single photograph as necessary while visually checking the selected single photograph displayed in a separate window from the 3D model, and can utilize a pointing device, keyboard, etc., like the graphic input means 101, attribute information input means 107, and single photograph selection means 105. Adjustment of graphic data here refers to an operation to change the position, shape, etc.

When the operator adjusts the graphic data in the selected single photograph using the graphic adjustment means 106, the graphic position calculation means 102 calculates (i.e., recalculates) the graphic position in accordance with the adjustment. The adjusted graphic data, including the recalculated graphic position, is stored in the graphic storage means 111. At this time, the original (pre-adjustment) graphic data (including the graphic position) can be left as history and new (adjusted) graphic data can be stored separately, or the original graphic data can be left alone and only the new graphic data can be stored (so-called overwriting). The adjusted graphic data is then reflected in the graphic data displayed on the 3D model and in the candidate single photograph, meaning that the adjusted graphic data is displayed in the 3D model and the candidate single photograph.

(System Configuration)
The figure registration system 100 of the present invention may be configured with a server (e.g., a cloud server) and a terminal device as shown in Fig. 3. In this case, the server may be provided with a figure position calculation means 102, a single photo extraction means 103, a photography location display means 104, a 3D model storage means 109, a single photo storage means 110, and a figure storage means 111, and the terminal device may be provided with a figure input means 101, a single photo selection means 105, a figure adjustment means 106, an attribute information input means 107, and a display means 108. The terminal device here refers to a device such as a personal computer (PC), a tablet computer (iPad (registered trademark), etc.), or a smartphone, and is connected to the server via a network.

The graphic registration system 100 can also connect multiple terminal devices (terminals A to C in the figure) to one server, as shown in FIG. 3. Furthermore, it can be configured so that each terminal device sends a single photograph to the server, and the server that receives it stores the single photograph in single photograph storage means 110, or it can be configured so that the server creates a 3D model from multiple single photographs sent from each terminal device and stores this in 3D model storage means 109. In this case, it is advisable to associate (link) the information on the terminal device with the single photograph or 3D model before storing them, so that it is possible to distinguish which terminal device's single photograph or 3D model it is from.

(Processing flow)
The main processing of the pattern registration system 100 will be described in detail below with reference to Fig. 4. Fig. 4 is a flow diagram showing the flow of the main processing of the pattern registration system 100 of the present invention. In this flow diagram, the action to be performed is shown in the center column, the things necessary for the action are shown in the left column, and the things resulting from the action are shown in the right column.

As shown in FIG. 4, first, a 3D model is read from the 3D model storage means 109, and the 3D model is displayed on the display means 108 such as a liquid crystal display (Step 201). When the operator finds a crack or the like (an object of interest) in the 3D model, he or she inputs graphic data using the graphic input means 101 to trace the crack on the 3D model (Step 202). FIG. 5 shows the state in which the input graphic data is displayed on the 3D model. At this time, the operator can also input attribute information related to the graphic data using the attribute information input means 107. The attribute information input here is associated (linked) with the graphic data and stored in the graphic storage means 111.

When the graphic data is input, the graphic position is calculated by the graphic position calculation means 102 (Step 203). The graphic position calculated here is then associated (linked) with the graphic data and stored in the graphic storage means 111. Furthermore, when the graphic position is calculated, a candidate single photograph that includes the input graphic data in its image is extracted by the single photograph extraction means 103 (Step 204), the position of the graphic data in the candidate single photograph is determined (Step 205), and the candidate single photograph including the graphic data is displayed on the display means 108 (Step 206). Figure 5 shows the state in which the candidate single photograph including the graphic data is displayed together with the 3D model.

When the candidate single photographs are extracted, the shooting specification frame of the extracted candidate single photograph is displayed on the display means 108 by the shooting location display means 104 (Step 207). FIG. 5 shows the state in which the shooting specification frame is displayed together with the 3D model. The operator then selects a desired selected single photograph from among the candidate single photographs using the single photograph extraction means 103 (Step 208). At this time, the desired selected single photograph can be specified from among the candidate single photographs displayed on the display means 108, and in addition (or instead) the desired candidate single photograph can be specified from among the shooting specification frames displayed on the display means 108.

When the selected single photos are selected, they are displayed in a separate window from the 3D model (Step 209). At this time, if two selected single photos are selected from the candidate single photos, these two selected single photos are displayed side-by-side in a separate window; that is, these selected single photos are displayed as stereo images, allowing the operator to see the target object in the selected single photos (e.g., a crack) in real life. Figure 6 shows the state in which the selected single photos, each containing graphic data, are displayed side-by-side in a separate window.

When the selected photograph is displayed in a window separate from the 3D model, the operator adjusts the graphic data in the selected photograph as necessary while visually viewing the selected photograph using the graphic adjustment means 106 (Step 210). The result of the adjustment is reflected in the graphic data displayed on the 3D model and the graphic data displayed in the candidate photograph, that is, the adjusted graphic data is displayed in the 3D model and the candidate photograph. FIG. 7 shows a situation in which, when the graphic data of one selected photograph (e.g., the left side) in a separate window is adjusted, the graphic data of the other selected photograph (e.g., the right side) is also adjusted accordingly. As shown in FIG. 7, a mode in which the graphic data of both selected photographs in separate windows are adjusted in conjunction (a so-called linked mode) can be prepared, and a mode in which the result of adjusting the graphic data of one selected photograph in a separate window is not reflected in the graphic data of the other selected photograph (a so-called independent mode) can also be prepared. Figure 8 shows a situation in which, when the graphic data of one selected single photo in a separate window (e.g., the left side) is adjusted, the graphic data of the other selected single photo (e.g., the right side) remains in that state (i.e., is not adjusted).

When the graphic data in the selected single photograph is adjusted, the operator performs a registration operation, and the adjusted graphic data is stored in the graphic storage means 111 (Step 211).

The graphic registration system of the present invention is particularly useful for road and river administrators, including national and local governments. Since the present invention contributes to optimal maintenance and management of roads and rivers, it not only allows users to use these facilities comfortably, but also leads to a longer lifespan and reduced life cycle costs for so-called infrastructure such as roads and rivers. Considering this, the present invention can be said to be an invention that can be expected to not only be used industrially, but also to make a significant contribution to society.

100 Graphic registration system of the present invention 101 Graphic input means (of the graphic registration system) 102 Graphic position calculation means (of the graphic registration system) 103 Single photograph extraction means (of the graphic registration system) 104 Shooting location display means (of the graphic registration system) 105 Single photograph selection means (of the graphic registration system) 106 Graphic adjustment means (of the graphic registration system) 107 Attribute information input means (of the graphic registration system) 108 Display means (of the graphic registration system) 109 3D model storage means (of the graphic registration system) 110 Single photograph storage means (of the graphic registration system) 111 Graphic storage means (of the graphic registration system)

Claims (7)

a three-dimensional model storage means for storing a three-dimensional model of a target terrain;
A single photograph storage means for storing a plurality of single photographs of a target terrain;
a graphic input means for allowing an operator to input a graphic to the three-dimensional model displayed on the display means;
a figure position calculation means for calculating a position of the figure in a three-dimensional space;
a figure storage means for storing the input figure together with the position calculated by the figure position calculation means;
A single photograph extraction means for extracting a specific single photograph based on the graphic,
The single photograph is stored together with the photographing position and the photographing posture,
the single photograph extraction means extracts the single photograph including the graphic from the plurality of single photographs stored in the single photograph storage means;
A pattern registration system comprising: The apparatus further includes a photographing location display means for displaying the photographing location of the single photograph by a frame line or a surface,
the photographing location display means displays a frame line or a surface on the three-dimensional model at a position corresponding to the photographing position, and displays the frame line or the surface on the three-dimensional model at an inclination corresponding to the photographing attitude.
2. The system according to claim 1, wherein the image registration system includes: The figure position calculation means calculates the position of the figure in the single photograph,
the single photograph extracted by the single photograph extracting means is displayed on an output means together with the figure;
3. The system according to claim 1, wherein the number of pixels is 1 or 2. a single photograph selection means for allowing an operator to select a desired single photograph from the single photographs extracted by the single photograph extraction means;
and a graphic adjustment means for allowing an operator to adjust the graphic,
the single photograph selected by the single photograph selection means is displayed together with the figure in a separate window;
When an operator adjusts the figure of the single photograph displayed in a separate window, the figure on the three-dimensional model is also adjusted, and the figures in the other single photographs are also adjusted.
4. The system according to claim 3, wherein the image registration system includes: When the operator selects two of the single photographs using the single photograph selection means, the two are displayed side by side in a separate window,
The operator can adjust the figure while viewing the two single photographs in a stereoscopic view in a separate window.
5. The system according to claim 4, wherein the image registration system includes: The method further includes an attribute information input unit for allowing an operator to input attribute information for the graphic,
the graphic storage means stores the graphic together with the input attribute information;
6. The system according to claim 1, wherein the first and second inputs are input to the first and second inputs. the three-dimensional model storage means, the single photograph storage means, the figure position calculation means, the figure storage means, and the single photograph extraction means are provided in a server;
the graphic input means is provided in a terminal device connected to the server via a network,
The operator can input the figure while visually checking the three-dimensional model displayed on the display means of the terminal device.
7. A graphic registration system according to claim 1.

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