阅读说明：本技术 图像生成装置、图像生成方法、程序以及记录介质 (Image generation device, image generation method, program, and recording medium ) 是由 陈斌 沈思杰 于 2019-11-12 设计创作，主要内容包括：提供一种图像生成装置,其能够用计算处理能力不太高的装置轻松地生成合成图像等,并能够抑制合成图像所表现的被摄体的再现性的降低。该图像生成装置基于由飞行体拍摄到的多个拍摄图像来生成合成图像,包括进行与合成图像的生成相关的处理的处理部。处理部获取由飞行体具备的拍摄装置拍摄到的多个拍摄图像,基于多个拍摄图像,生成三维模型,获取拍摄多个拍摄图像时的拍摄装置的各个姿势,基于拍摄装置的各个姿势和三维模型,计算拍摄多个拍摄图像时的拍摄装置的各个位置与三维模型之间的距离,并根据拍摄装置的各个位置与三维模型之间的距离,调整多个拍摄图像的尺寸,对尺寸调整后的多个拍摄图像进行合成而生成合成图像。(Provided is an image generation device capable of easily generating a composite image or the like by a device having a low computational processing capability and suppressing a reduction in reproducibility of an object represented by the composite image. The image generation device generates a composite image based on a plurality of captured images captured by a flying object, and includes a processing unit that performs processing related to generation of the composite image. The processing unit acquires a plurality of captured images captured by an imaging device provided in the flying object, generates a three-dimensional model based on the plurality of captured images, acquires the respective postures of the imaging device when the plurality of captured images are captured, calculates the distances between the respective positions of the imaging device and the three-dimensional model when the plurality of captured images are captured based on the respective postures of the imaging device and the three-dimensional model, adjusts the sizes of the plurality of captured images based on the distances between the respective positions of the imaging device and the three-dimensional model, and generates a composite image by combining the plurality of captured images after the size adjustment.)

An image generating apparatus for generating a composite image based on a plurality of captured images captured by a flying object, the image generating apparatus comprising a processing unit for executing processing relating to generation of the composite image,

the processing unit acquires a plurality of captured images captured by an imaging device provided in the flying object; generating a three-dimensional model based on the plurality of camera images; acquiring each attitude of the image pickup apparatus when the plurality of picked-up images are picked up, and calculating a distance between each position of the image pickup apparatus when the plurality of picked-up images are picked up and the three-dimensional model based on the each attitude of the image pickup apparatus and the three-dimensional model; adjusting the size of the plurality of captured images based on the distance between each position of the imaging device and the three-dimensional model; the plurality of captured images after the size adjustment are combined to generate a combined image.

The image generating apparatus according to claim 1, wherein the processing section acquires each position and each orientation of the imaging apparatus when the plurality of captured images are captured; calculating distances between the respective positions of the image pickup apparatus and the three-dimensional model based on the respective positions and the respective postures of the image pickup apparatus and the three-dimensional model.

The image generating apparatus according to claim 1 or 2, wherein the processing section calculates a distance between the imaging device and a first portion of the three-dimensional model corresponding to each of the imaging ranges imaged at each position by the imaging device.

The image generating apparatus according to claim 1 or 2, wherein the processing section divides an imaging range captured at each position of the imaging apparatus to produce divided regions of the imaging range; computing a second portion of the three-dimensional model corresponding to the segmented region; for each of the divided regions, a distance between the imaging device and a second portion of the three-dimensional model corresponding to the divided region is calculated.

The image generation apparatus according to any one of claims 1 to 4, wherein the distance is a distance in a vertical direction between each position of the imaging apparatus and the three-dimensional model.

The image generation apparatus according to any one of claims 1 to 4, wherein the distance is a distance between each position of the imaging apparatus and the three-dimensional model in an imaging direction of the imaging apparatus.

The image generation apparatus according to any one of claims 1 to 6, wherein the processing unit generates sparse point group data based on the plurality of captured images, and generates a three-dimensional model based on the sparse point group data.

The image generating apparatus according to claim 7, wherein the processing unit projects a plurality of three-dimensional points included in the sparse point group data onto a two-dimensional plane; designating the projected plurality of two-dimensional points adjacent in the two-dimensional plane as a group, and designating a plurality of the groups; connecting a plurality of three-dimensional points included in the sparse point group data corresponding to the specified adjacent two-dimensional points by the set to generate a plurality of plane data; generating the three-dimensional model based on the plurality of face data.

An image generation method for generating a composite image based on a plurality of captured images captured by a flying object, comprising:

acquiring a plurality of captured images captured by an imaging device provided in the flying object;

generating a three-dimensional model based on the plurality of camera images;

acquiring each posture of the image pickup apparatus when the plurality of picked-up images are picked up;

calculating distances between respective positions of the image pickup apparatus and the three-dimensional model based on the respective postures of the image pickup apparatus and the three-dimensional model;

adjusting the size of the plurality of captured images based on the distance between each position of the imaging device and the three-dimensional model; and

the plurality of captured images after the size adjustment are combined to generate a combined image.

The image generation method of claim 9, wherein the step of acquiring a gesture comprises: acquiring positions and postures of the imaging device when the plurality of captured images are captured;

the step of calculating the distance comprises: calculating a distance between each position of the image pickup apparatus and the three-dimensional model based on the each position and the each posture of the image pickup apparatus and the three-dimensional model.

The image generation method according to claim 9 or 10, wherein the step of calculating the distance includes the steps of: the distance between the imaging device and the first portion of the three-dimensional model corresponding to the imaging range is calculated for each imaging range imaged by the imaging device at each position.

The image generation method according to claim 9 or 10, wherein the step of calculating the distance includes the steps of:

dividing an imaging range captured at each position of the imaging device to generate divided regions of the imaging range;

computing a second portion of the three-dimensional model corresponding to the segmented region; and

for each of the divided regions, a distance between the imaging device and a second portion of the three-dimensional model corresponding to the divided region is calculated.

The image generation method according to any one of claims 9 to 12, wherein the distance is a distance in a vertical direction between each position of the imaging device and the three-dimensional model.

The image generation method according to any one of claims 9 to 12, wherein the distance is a distance between each position of the imaging device and the three-dimensional model in an imaging direction of the imaging device.

The image generation method according to any one of claims 9 to 14, wherein the step of generating the three-dimensional model includes the steps of:

generating sparse point group data based on the plurality of camera images; and

generating a three-dimensional model based on the sparse point cloud data.

The image generation method of claim 15, wherein the step of generating the three-dimensional model comprises the steps of:

projecting a plurality of three-dimensional points included in the sparse point cloud data onto a two-dimensional plane;

designating the projected plurality of two-dimensional points adjacent in the two-dimensional plane as a group, and designating a plurality of the groups;

connecting a plurality of three-dimensional points included in the sparse point group data corresponding to the specified adjacent two-dimensional points by the set to generate a plurality of plane data; and

generating the three-dimensional model based on the plurality of face data.

A program for causing an image generation device, which generates a composite image based on a plurality of captured images captured by a flying object, to execute:

acquiring a plurality of captured images captured by an imaging device included in the flying object;

generating a three-dimensional model based on the plurality of camera images;

acquiring each posture of the image pickup apparatus when the plurality of picked-up images are picked up;

calculating distances between respective positions of the image pickup apparatus and the three-dimensional model when the plurality of picked-up images are picked up, based on the respective postures of the image pickup apparatus and the three-dimensional model;

adjusting the size of the plurality of captured images based on the distance between each position of the imaging device and the three-dimensional model; and

the plurality of captured images after the size adjustment are combined to generate a combined image.

A computer-readable recording medium having recorded thereon a program for causing an image generation device that generates a composite image based on a plurality of captured images captured by a flying object to execute:

acquiring a plurality of captured images captured by an imaging device included in the flying object;

generating a three-dimensional model based on the plurality of camera images;

acquiring each posture of the image pickup apparatus when the plurality of picked-up images are picked up;

calculating distances between respective positions of the image pickup apparatus and the three-dimensional model when the plurality of picked-up images are picked up, based on the respective postures of the image pickup apparatus and the three-dimensional model;

adjusting the size of the plurality of captured images based on the distance between each position of the imaging device and the three-dimensional model; and

the plurality of captured images after the size adjustment are combined to generate a combined image.