阅读说明：本技术 数据间除装置、测量装置、测量系统以及数据间除方法 (Data thinning device, measuring system, and data thinning method ) 是由 日野百代 前原秀明 平谦二 加藤纯雄 于 2018-03-28 设计创作，主要内容包括：具备：坐标计算部(161),其根据表示到多个测距点(P)的距离和角度以及激光的照射基准点的坐标的与测距点(P)相关的数据以及飞机(2)的姿势角,按照每个测距点(P),计算多个图像中的对应的图像上的坐标；特征点提取部(162),其按照每个图像提取特征点；距离计算部(163),其按照每个测距点(P),计算在对应的图像中从由坐标计算部(161)计算出的坐标到由特征点提取部(162)提取出的特征点中的距离近的特征点之间的距离；以及要否判定部(166),其根据距离计算部(163)的计算结果,删除与测距点(P)相关的数据中的不需要的数据。(The disclosed device is provided with: a coordinate calculation unit (161) that calculates, for each distance measurement point (P), the coordinates on the corresponding image of the plurality of images, based on data relating to the distance measurement point (P) and indicating the distance and angle to the plurality of distance measurement points (P) and the coordinates of the reference point of the laser light irradiation, and the attitude angle of the aircraft (2); a feature point extraction unit (162) that extracts feature points for each image; a distance calculation unit (163) that calculates, for each distance measurement point (P), the distance between the coordinates calculated by the coordinate calculation unit (161) and a feature point that is closest to the distance among the feature points extracted by the feature point extraction unit (162) in the corresponding image; and a necessity determination unit (166) that deletes unnecessary data from the data relating to the distance measurement point (P) on the basis of the calculation result of the distance calculation unit (163).)

1. A data thinning apparatus includes:

a coordinate calculation unit that calculates, for each distance measurement point, coordinates on a corresponding image of a plurality of images obtained by periodically capturing an area including the distance measurement point by an imaging device mounted on the mobile body, based on data on the distance measurement point, which indicates a distance and an angle to the plurality of distance measurement points measured by a laser beam by the distance measurement device mounted on the mobile body, and coordinates of an irradiation reference point of the laser beam measured by a coordinate measurement device mounted on the mobile body, and a posture angle of the mobile body;

a feature point extracting unit that acquires a feature point for each of the images;

a distance calculation unit that calculates, for each of the distance measurement points, a distance from the coordinates calculated by the coordinate calculation unit to a feature point having a short distance among the feature points extracted by the feature point extraction unit in the corresponding image; and

and an necessity determining unit configured to delete unnecessary data from the data related to the distance measuring point, based on the calculation result of the distance calculating unit and the determination result of the edge determining unit.

2. The data thinning apparatus according to claim 1,

the data thinning apparatus includes an edge determination unit that determines, for each of the distance measurement points, whether or not the coordinates calculated by the coordinate calculation unit in the corresponding image are points at which an edge of the object is observed,

the necessity determining unit deletes unnecessary data from the data related to the ranging point, based on the determination result of the edge determining unit.

3. The data thinning apparatus according to claim 1 or 2,

the inter-data division device includes a vegetation determination section that determines, for each of the distance measurement points, whether or not the coordinates calculated by the coordinate calculation section in the corresponding image are points at which vegetation is observed,

the necessity determining unit deletes unnecessary data from the data relating to the ranging point, based on the determination result of the vegetation determining unit.

4. A measuring apparatus is characterized by comprising:

a coordinate calculation unit that calculates, for each distance measurement point, coordinates on a corresponding image of a plurality of images obtained by periodically capturing an area including the distance measurement point by an imaging device mounted on the mobile body, based on data on the distance measurement point, which indicates a distance and an angle to the plurality of distance measurement points measured by a laser beam by the distance measurement device mounted on the mobile body, and coordinates of an irradiation reference point of the laser beam measured by a coordinate measurement device mounted on the mobile body, and a posture angle of the mobile body;

a feature point extraction unit that extracts feature points for each of the images;

a distance calculation unit that calculates, for each of the distance measurement points, a distance from the coordinates calculated by the coordinate calculation unit to a feature point having a short distance among the feature points extracted by the feature point extraction unit in the corresponding image;

a necessity determining unit configured to delete unnecessary data from the data related to the distance measuring point, based on the calculation result of the distance calculating unit and the determination result of the edge determining unit; and

and a navigation device that sets a posture angle of the mobile body using data relating to the distance measuring point from which unnecessary data has been deleted by the necessity determining unit.

5. A measurement system is characterized by comprising:

a distance measuring device mounted on a mobile body, for measuring distances and angles to a plurality of distance measuring points by using a laser beam;

a coordinate measuring device mounted on the movable body and measuring coordinates of the reference point of the laser beam;

an imaging device mounted on the mobile body, the imaging device periodically capturing an image of a region including the distance measurement point;

a coordinate calculation unit that calculates coordinates on the corresponding image obtained by the imaging device for each of the distance measurement points based on data on the distance measurement points indicating the distance and angle to each of the distance measurement points measured by the distance measurement device and the coordinates measured by the coordinate measurement device and on the posture angle of the mobile body;

a feature point extraction unit that extracts feature points for each of the images;

a distance calculation unit that calculates, for each of the distance measurement points, a distance from the coordinates calculated by the coordinate calculation unit to a feature point having a short distance among the feature points extracted by the feature point extraction unit in the corresponding image;

a necessity determining unit configured to delete unnecessary data from the data related to the distance measuring point, based on the calculation result of the distance calculating unit and the determination result of the edge determining unit; and

and a navigation device that sets a posture angle of the mobile body using data relating to the distance measuring point from which unnecessary data has been deleted by the necessity determining unit.

6. A method for data thinning, comprising the steps of:

a coordinate calculation unit that calculates, for each distance measurement point, coordinates on a corresponding image of a plurality of images obtained by periodically capturing an area including the distance measurement point by a capturing device mounted on the mobile body, based on data on the distance measurement point, which indicates a distance and an angle to the plurality of distance measurement points measured by a laser beam by the distance measurement device mounted on the mobile body, and coordinates of an irradiation reference point of the laser beam measured by a coordinate measurement device mounted on the mobile body, and a posture angle of the mobile body;

a feature point extracting unit that acquires a feature point for each of the images;

a distance calculation unit that calculates, for each of the distance measurement points, a distance from the coordinates calculated by the coordinate calculation unit to a feature point having a short distance among the feature points extracted by the feature point extraction unit in the corresponding image; and

the necessity determining unit deletes unnecessary data from the data relating to the distance measuring point, based on the calculation result of the distance calculating unit and the determination result of the edge determining unit.

Technical Field

The present invention relates to a data thinning device, a measurement system, and a data thinning method for thinning data used for estimating the posture of a mobile body.

Background

In the surveying system, a distance measuring device and a camera are mounted on a movable body, and the absolute position of each distance measuring point is obtained using the measurement result and the posture of the movable body. At this time, the attitude of the mobile body is acquired by an IMU (Inertial Measurement Unit).

However, the IMU is a very expensive and heavy device, and the types of movable bodies on which the IMU can be mounted are limited. In order to solve this problem, a navigation device has been proposed which estimates the attitude of a mobile body with high accuracy using a configuration in which an IMU and a stabilizer are not mounted (for example, see patent document 1).

Disclosure of Invention

Problems to be solved by the invention

Patent document 1 proposes a navigation device that estimates the attitude of a mobile body with high accuracy using a configuration in which an IMU and a stabilizer are not mounted. Specifically, the posture of the moving body is calculated by the binding calculation using the template matching result between the data related to the ranging point and the plurality of images.

However, the navigation device has the following problems: the larger the number of laser irradiation points, the larger the amount of calculation of the binding calculation, the more processing time is required, and the accuracy of the posture estimation decreases depending on the distance measurement point.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a data thinning apparatus capable of thinning data used for estimating the posture of a moving object.

Means for solving the problems

The data thinning apparatus of the present invention is characterized by comprising: a coordinate calculation unit that calculates, for each distance measurement point, coordinates on a corresponding image of a plurality of images obtained by periodically capturing an area including the distance measurement point by an imaging device mounted on the mobile body, based on data on the distance measurement point, which indicates a distance and an angle to the plurality of distance measurement points measured by a laser beam by the distance measurement device mounted on the mobile body, and coordinates of an irradiation reference point of the laser beam measured by the coordinate measurement device mounted on the mobile body, and a posture angle of the mobile body; a feature point extraction unit that acquires feature points for each image; a distance calculation unit that calculates, for each distance measurement point, a distance between the coordinates calculated by the coordinate calculation unit and a feature point having a short distance among the feature points extracted by the feature point extraction unit in the corresponding image; and a necessity determining unit that deletes unnecessary data from the data relating to the ranging point based on the calculation result of the distance calculating unit.

Effects of the invention

According to the present invention, since the configuration is as described above, data used for estimating the posture of the mobile object can be thinned out.

Drawings

Fig. 1 is a block diagram showing a configuration example of a measurement system according to embodiment 1 of the present invention.

Fig. 2A to 2D are diagrams schematically showing the positional relationship of the distance measuring device, the left camera, and the right camera in embodiment 1 of the present invention, fig. 2A is a perspective view showing an airplane on which the distance measuring device, the left camera, and the right camera are mounted, fig. 2B is a view of the airplane viewed from the X-axis direction, fig. 2C is a view of the airplane viewed from the Z-axis direction, and fig. 2D is a view of the airplane viewed from the Y-axis direction.

Fig. 3 is a block diagram showing an example of a functional configuration of a data thinning apparatus according to embodiment 1 of the present invention.

Fig. 4A and 4B are block diagrams showing an example of the hardware configuration of the data thinning apparatus according to embodiment 1 of the present invention.

Fig. 5 is a flowchart showing an operation example of the data thinning apparatus according to embodiment 1 of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the drawings.