Model forming apparatus, model forming method, photographing apparatus and photographing method

• US 20060239539A1
• Filed: 06/17/2005
• Published: 10/26/2006
• Est. Priority Date: 06/18/2004
• Status: Active Grant

• Current Assignee: Topcon Corporation
• Original Assignee: Topcon Corporation
• Inventors: Aoki, Hiroyuki, Ito, Tadayuki, Kochi, Nobuo, Otani, Hitoshi, Yamada, Mitsuharu
• Granted Patent: US 7,986,825 B2
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30184 Infrastructure
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

Claims

1. A model forming apparatus comprising:

a photographing section for photographing an object;

an image data storage section for storing three-dimensional model data of the object;

a display section for displaying a three-dimensional model based on the three-dimensional model data of the object;

a recognition section for recognizing an unmodeled part of the object based on the three-dimensional model data stored in the image data storage section; and

a photographing instruction information section for obtaining photographing instruction information related to photographing the unmodeled part,

wherein the photographing section photographs the object in accordance with the photographing instruction information obtained by the photographing instruction information section.

4. The model forming apparatus according to claim 1,

wherein the display section is configured to graphically display the photographing instruction information obtained by the photographing instruction information section as superimposed over a plan view of an area containing, or over a stereo model of, the object.

6. The model forming apparatus according to claim 1, further comprising:

a measurement setting section for setting measurement conditions related to photographing the object with the photographing section; and

a photographing condition calculation section for obtaining photographing conditions satisfying the measurement conditions set by the measurement setting section.

2. A model forming apparatus comprising:

a photographing section for photographing an object;

an image data storage section for storing at least three-dimensional model data of the object or object image data obtained by photographing the object with the photographing section;

a model forming section for obtaining three-dimensional model data of the object from the object image data stored in the image data storage section;

a display section for displaying a three-dimensional model based on the three-dimensional model data of the object;

a recognition section for recognizing an unmodeled part based on the three-dimensional model data stored in the image data storage section; and

a photographing instruction information section for obtaining photographing instruction information related to photographing the unmodeled part,

wherein the display section displays the three-dimensional model and the photographing instruction information together.

3. The model forming apparatus according to claim 2, further comprising:

a texture attaching section for dividing the model formed from the three-dimensional model data by the model forming section into plural areas and attaching texture of the object image data to each divided area based on the relationship between the each divided area and a photographing direction,

wherein the display section displays the model with texture formed by the texture attaching section.

5. The model forming apparatus according to claim 2,

wherein the display section is configured to graphically display the photographing instruction information obtained by the photographing instruction information section as superimposed over a plan view of an area containing, or over a stereo model of, the object.

7. The model forming apparatus according to claim 2, further comprising:

a measurement setting section for setting measurement conditions related to photographing the object with the photographing section; and

a photographing condition calculation section for obtaining photographing conditions satisfying the measurement conditions set by the measurement setting section.

8. A model forming method, causing a computer to perform the steps of:

displaying a three-dimensional model of an object based on three-dimensional model data of the object stored in an image data storage section;

recognizing an unmodeled part of the object based on the three-dimensional model data; and

obtaining photographing instruction information related to photographing the unmodeled part,

wherein a photographing section photographs the object in accordance with the photographing instruction information.

9. A model forming method, causing a computer to perform the steps of:

obtaining model data of an object from three-dimensional model data of the object stored in an image data storage section or from object image data obtained by photographing the object with a photographing section;

displaying a three-dimensional model based on the three-dimensional model data of the object;

recognizing an unmodeled part of the object based on the three-dimensional model data of the object;

obtaining photographing instruction information related to photographing the unmodeled part; and

displaying the three-dimensional model and the photographing instruction information together in a display section.

10. A photographing apparatus comprising:

a photographing section for photographing an object;

a photographing position measurement section for obtaining photographing position information of the photographing section;

an image data storage section for storing plural image data of the object with a known positional point;

a model forming section for forming a three-dimensional model of the object using the image data stored in the image data storage section; and

a model display section for displaying, for the three-dimensional model of the object formed by the model forming section, a three-dimensional model image of the object as viewed from a photographing position of the photographing section based on the image data stored in the image data storage section and the photographing position information obtained by the photographing position measurement section.

11. The photographing apparatus according to claim 10,

wherein the model forming section forms a three-dimensional model of the object, using a first photographed image stored in the image data storage section together with the photographing position information and a second photographed image displayed in the model display section, and the apparatus further comprising:

a photographing condition measurement section for obtaining at least one of measurement accuracy, baseline, photographing position, photographing angle, and interval between photographing sections for three-dimensional measurement on the object from the photographing position information related to the first and second photographed images.

14. The photographing apparatus according to claim 10,

wherein the image data storage section stores at least a set of stereo images photographed with a photographing device other than the photographing section that can be used to form a three-dimensional model of the object in the model forming section.

16. The photographing apparatus according to claim 10,

wherein the image data stored in the image data storage section include at least one of a stereo aerial photograph, a stereo small-scale photograph, a stereo low-resolution image and a wide-area photographed image, photographed with a photographing device other than the photographing section.

18. The photographing apparatus according to claim 10,

wherein the image data obtained by photographing with the photographing section are stored in the image data storage section such that the known positional point of the object can be displayed being superimposed over the object image;

and

wherein the object image stored in the image data storage section can therefore be used to form a three-dimensional model of the object in the model forming section.

20. The photographing apparatus according to claim 10,

wherein the photographing section photographs a first photographed image to be stored in the image data storage section together with the photographing position information and a second photographed image photographed with having an overlapping area with the first photographed image with respect to the object;

and

wherein the image data storage section is configured to sequentially store the first photographed image and the second photographed image.

22. The photographing apparatus according to claim 10,

wherein the photographing section photographs the object within view sequentially from different photographing positions, and the apparatus further comprising:

a monitor image display section for displaying an object image based on image data of the object obtained by sequentially photographing the object.

24. The photographing apparatus according to claim 22, further comprising a reference point display position computing section for displaying, in the monitor image display section, at least one of a reference point or a pass point superimposed over the image data obtained by sequentially photographing the object.

26. The photographing apparatus according to claim 11, further comprising a measurement condition display section for displaying photographing conditions obtained by measurement with the photographing condition measurement section.

12. A photographing apparatus comprising:

a photographing section for photographing an object;

a photographing position designating section for allowing designation of a photographing position of the photographing section;

an image data storage section for storing plural image data of the object with a known positional point;

a model forming section for forming a three-dimensional model of the object using the image data stored in the image data storage section; and

a model display section for displaying, for the three-dimensional model of the object formed by the model forming section, a three-dimensional model image of the object as viewed from the designated photographing position of the photographing section based on the image data stored in the image data storage section and the photographing position designated by the photographing position designating section.

13. The photographing apparatus according to claim 12,

wherein the model forming section forming a three-dimensional model of the object using a first photographed image stored in the image data storage section together with the photographing position information and a second photographed image displayed in the model display section, and the apparatus further comprising:

a photographing position measurement section for obtaining photographing position information of the photographing section; and

a photographing condition measurement section for obtaining at least one of measurement accuracy, baseline, photographing position, photographing angle, and interval between photographing sections for three-dimensional measurement on the object, from the photographing position information related to the first and second photographed images.

15. The photographing apparatus according to claim 12,

wherein the image data storage section stores at least a set of stereo images photographed with a photographing device other than the photographing section that can be used to form a three-dimensional model of the object in the model forming section.

17. The photographing apparatus according to claim 12,

wherein the image data stored in the image data storage section include at least one of a stereo aerial photograph, a stereo small-scale photograph, a stereo low-resolution image and a wide-area photographed image, photographed with a photographing device other than the photographing section.

19. The photographing apparatus according to claim 12,

wherein the image data obtained by photographing with the photographing section are stored in the image data storage section such that the known positional point of the object can be displayed being superimposed over the object image;

and

wherein the object image stored in the image data storage section can therefore be used to form a three-dimensional model of the object in the model forming section.

21. The photographing apparatus according to claim 12,

wherein the photographing section photographs a first photographed image to be stored in the image data storage section together with the photographing position information and a second photographed image photographed with having an overlapping area with the first photographed image with respect to the object;

and

wherein the image data storage section is configured to sequentially store the first photographed image and the second photographed image.

23. The photographing apparatus according to claim 12,

wherein the photographing section photographs the object within view sequentially from different photographing positions, and the apparatus further comprising:

a monitor image display section for displaying an object image based on image data of the object obtained by sequentially photographing the object.

25. The photographing apparatus according to claim 23, further comprising a reference point display position computing section for displaying, in the monitor image display section, at least one of a reference point or a pass point superimposed over the image data obtained by sequentially photographing the object.

27. The photographing apparatus according to claim 13, further comprising a measurement condition display section for displaying photographing conditions obtained by measurement with the photographing condition measurement section.

28. A photographing apparatus comprising:

a photographing section for photographing an object;

a finder image display section for displaying the object image being photographed by the photographing section;

an image data storage section for storing plural image data of the object with a known positional point; and

a data forming section for forming reference point data or a three-dimensional model of the object using the image data stored in the image data storage section,

wherein the finder image display section is configured to display the reference point data or the three-dimensional model over the object image.

29. A photographing method, causing a computer to perform the steps of:

obtaining photographing position information for photographing an object with a photographing section;

forming a three-dimensional model of the object using image data stored in an image data storage section for storing plural image data of the object with a known positional point; and

displaying, for the three-dimensional model of the object, a three-dimensional model image of the object as viewed from a photographing position of the photographing section based on the image data stored in the image data storage section and the photographing position information.

30. A photographing method, causing a computer to perform the steps of:

entering information on a photographing position designated for photographing an object with a photographing section;

forming a three-dimensional model of the object using image data stored in an image data storage section for storing plural image data of the object with a known positional point; and

displaying, for the three-dimensional model of the object, a three-dimensional model image of the object as viewed from the designated photographing position of the photographing section based on the image data stored in the image data storage section and the designated photographing position.