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

Patent metadata

Field	Value
Publication number	US-10565730-B2
Application number	US-201816107392-A
Country	US
Kind code	B2
Filing date	Aug 21, 2018
Priority date	Sep 6, 2017
Publication date	Feb 18, 2020
Grant date	Feb 18, 2020

Abstract

A technique is provided to enable reduction in cost relating to installation of orientation targets in aerial photogrammetry. A survey data processing device includes a positioning data receiving unit, a relative orientation unit, an absolute orientation unit, and an adjustment calculation executing unit. The positioning data receiving unit receives positioning data obtained by tracking and positioning a reflective prism of an aerial vehicle by a total station. The aerial vehicle also has a camera. The relative orientation unit calculates relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera. The absolute orientation unit provides a true scale to the relative exterior orientation parameters by absolute orientation using the positioning data and the relative exterior orientation parameters. The adjustment calculation executing unit corrects the relative exterior orientation parameters having the true scale, by using a positional relationship between the camera and the reflective prism.

First claim

What is claimed is:

1. A survey data processing device comprising:
a positioning data receiving unit configured to receive positioning data, the positioning data being obtained through tracking and positioning a reflective prism of an aerial vehicle by a total station, the aerial vehicle mounted with the reflective prism and a camera in which positional relationship and attitude relationship therebetween are known;
a relative orientation unit configured to calculate relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera;
an absolute orientation unit configured to obtain absolute values for the relative exterior orientation parameters by absolute orientation on a basis of the positioning data and the relative exterior orientation parameters;
an adjustment calculation executing unit configured to correct the absolute values for the relative exterior orientation parameters on a basis of a position relationship between the camera and the reflective prism, which is preliminarily obtained; and
a positioning data correcting unit configured to correct the positioning data of the reflective prism,
wherein displacement of a reflection point of the reflective prism occurs depending on an incident angle of each of measurement light and tracking light from the total station,
a relationship between the incident angle of each of the measurement light and the tracking light from the total station to the reflective prism and the displacement of the reflection point of each of the measurement light and the tracking light on the reflective prism is preliminarily obtained, and
the positioning data correcting unit corrects the positioning data on a basis of attitude in an absolute coordinate system of the reflection prism, which is obtained from the corrected absolute values for the relative exterior orientation parameters, the incident angle of each of the measurement light and the tracking light from the total station to the reflective prism, and the preliminarily obtained relationship between the incident angle to the reflective prism and the displacement of the reflection point.

2. The survey data processing device according to claim 1 , wherein the relative orientation provides a relative movement path of the camera with respect to an object in a photographed image, and the absolute orientation performs coordinate conversion of the relative movement path to a positioning data-based movement path of the camera and thereby provides the absolute values to the relative exterior orientation parameters.

3. The survey data processing device according to claim 1 , wherein the relative orientation enables generation of a relative three-dimensional model in which a relative relationship between an object in a photographed image and exterior orientation parameters of the camera at a time of taking the photographed image, and the absolute orientation performs scale adjustment, parallel movement, and rotation movement of the relative three-dimensional model so that a relative movement path of the camera in the relative three-dimensional model is fit to a positioning data-based movement path of the camera.

4. The survey data processing device according to claim 1 , wherein, in a condition in which a vertical direction component of the incident angle of the measurement light from the total station to the reflective prism is denoted by θ v , a horizontal direction component of the incident angle of the measurement light from the total station to the reflective prism is denoted by θ H , a correction amount in the vertical direction of the positioning data is denoted by Δv , and a correction amount in the horizontal direction of the positioning data is denoted by Δh,
a relationship (Δv, Δh)=f(θ V , θ H ) is established,
the attitude of the reflective prism is calculated from the corrected absolute values for the exterior orientation parameters,
the vertical direction component θv and the horizontal direction component θH are calculated from the attitude of the reflective prism and an orienting direction of the total station,
the correction amounts in the vertical direction and the horizontal direction Δv and Δh are obtained from the relationship (Δv, Δh)=f(θ V , θ H ), and
the positioning data is corrected with use of the obtained correction amounts in the vertical direction and the horizontal direction Δv and Δh.

5. A survey data processing method comprising:
receiving positioning data, the positioning data being obtained through tracking and positioning a reflective prism of an aerial vehicle by a total station, the aerial vehicle mounted with the reflective prism and a camera in which positional relationship and attitude relationship therebetween are known;
calculating relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera;
obtaining absolute values for the relative exterior orientation parameters by absolute orientation on a basis of the positioning data and the relative exterior orientation parameters; and
correcting the absolute values for the relative exterior orientation parameters on a basis of a position relationship between the camera and the reflective prism, which is preliminarily obtained; and
correcting the positioning data of the reflective prism,
wherein displacement of a reflection point of the reflective prism occurs depending on an incident angle of each of measurement light and tracking light from the total station,
a relationship between the incident angle of each of the measurement light and the tracking light from the total station to the reflective prism and the displacement of the reflection point of each of the measurement light and the tracking light on the reflective prism is preliminarily obtained, and
the positioning data of the reflective prism is corrected on a basis of attitude in an absolute coordinate system of the reflection prism, which is obtained from the corrected absolute values for the corrected relative exterior orientation parameters, the incident angle of each of the measurement light and the tracking light from the total station to the reflective prism, and the preliminarily obtained relationship between the incident angle to the reflective prism and the displacement of the reflection point.

6. A survey data processing device comprising a processor, the processor configured to:
receive positioning data, the positioning data being obtained through tracking and positioning a reflective prism of an aerial vehicle by a total station, the aerial vehicle mounted with the reflective prism and a camera in which positional relationship and attitude relationship therebetween are known;
calculate relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera;
obtain absolute values for the relative exterior orientation parameters by absolute orientation on a basis of the positioning data and the relative exterior orientation parameters;
correct the absolute values for the relative exterior orientation parameters on a basis of a position relationship between the camera and the reflective prism, which is preliminarily obtained; and
correct the positioning data of the reflective prism,
wherein displacement of a reflection point of the reflective prism occurs depending on an incident angle of each of measurement light and tracking light from the total station,
a relationship between the incident angle of each of the measurement light and the tracking light from the total station to the reflective prism and the displacement of the reflection point of each of the measurement light and the tracking light on the reflective prism is preliminarily obtained, and
the positioning data of

Assignees

• Topcon Corp

Inventors

• Sasaki Takeshi
• Fukaya Nobuyuki
• Nishita Nobuyuki

Classifications

• G01C11/08 Primary

  the pictures not being supported in the same relative position as when they were taken · CPC title

• G06T7/75 Primary

  involving models · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T17/05

  Geographic models · CPC title

• G06T2207/30181

  Earth observation · CPC title