Survey data processing device, survey data processing method, and program therefor

Patent metadata

Field	Value
Publication number	US-10331972-B2
Application number	US-201615008632-A
Country	US
Kind code	B2
Filing date	Jan 28, 2016
Priority date	Jan 28, 2015
Publication date	Jun 25, 2019
Grant date	Jun 25, 2019

Abstract

A technique for making multiple still images, which are photographed by a traveling mobile body, and the traveled route of the photographing correspond to each other, is obtained. A survey data processing device includes an input unit 101, an image processing unit 102, and a synchronous processing unit 103. The input unit 101 is configured to receive image data of multiple still images, which are photographed from a mobile body flying, and receive flight data, in which a flight route of the mobile body is measured. The image processing unit 102 is configured to estimate a flight route of the mobile body based on changes in positions of feature points included in the multiple still images on a screen. The synchronous processing unit 103 is configured to specify a matching relationship between the flight route of the flight data and the estimated flight route.

First claim

What is claimed is:

1. A survey data processing device comprising:
circuitry configured to:
receive flight data including a first flight route of a mobile body in flight that is measured by a satellite-based navigation system;
receive image data of multiple still images that are photographed from the mobile body in flight, wherein the multiple still images include a first still image that is photographed at a first time and a second still image that is photographed at a second time that is temporally consecutive and proximate to the first time;
calculate an image matching relationship between the first still image and the second still image based on a cross-correlation function by: (i) determining a template image of N 1 ×N 1 pixels from one of the first still image and the second still image; (ii) overlaying the template image on a search range (M 1 −N 1 +1) 2 within an other one of the first still image and the second still image of M 1 ×M 1 pixels, which is larger than the template image; and (iii) determining a position of the template image where a value of the cross-correlation function corresponds to a maximum correlation degree;
identify a first feature point from the first still image and a second feature point from the second still image based on the matching relationship, wherein the first feature point and the second feature point correspond to a same geographic feature point that is captured by the first still image and the second still image;
estimate a second flight route of the mobile body based on a moving-direction vector connecting a first position of the first feature point on a screen and a second position of the second feature point on the screen; and
specify a flight route matching relationship regarding position and time between the first flight route acid the second flight route by matching the second flight route onto the first flight route, and wherein the cross-correlation function is calculated based on:

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Assignees

• Kk Topcon

Inventors

• Sasaki Daisuke
• Fukaya Nobuyuki
• Ootani Hitoshi
• Anai Tetsuji
• Sasaki Takeshi

Classifications

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G06T7/248

  involving reference images or patches · CPC title

• G06T2207/20076

  Probabilistic image processing · CPC title

• G06T2207/10044

  Radar image · CPC title

• G06T2207/30241

  Trajectory · CPC title