OPTICAL DATA PROCESSING DEVICE, OPTICAL DATA PROCESSING SYSTEM, OPTICAL DATA PROCESSING METHOD, AND OPTICAL DATA PROCESSING PROGRAM

• US 20150206023A1
• Filed: 06/20/2013
• Published: 07/23/2015
• Est. Priority Date: 08/09/2012
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Topcon
• Original Assignee: Kabushiki Kaisha Topcon
• Inventors: Kochi, Nobuo, Kitamura, Kazuo
• Granted Patent: US 9,977,983 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 17/10 Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2210/56 Particle system, point based geometry or rendering
• CPC Class Codes: G06T 3/403 Edge-driven scaling; Edge-based scaling
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components

Abstract

A processing for specifying a correspondence relationship of feature points between two sets of optical data can be highly precise and efficiently carried out. The correspondence relationship of the perpendicular edges is obtained based on the assumption that the object is a building, in the processing for integrating the three-dimensional model obtained from the point cloud position data and the three-dimensional model obtained from the stereophotographic image. In this case, one perpendicular edge is defined by the relative position relationship with the other perpendicular edge, and the correspondence relationship is high-precisely and rapidly searched.

Claims

1. An optical data processing device comprising:

an extracting unit for extracting at least three three-dimensional edges that extend in a specific direction from a first three-dimensional model, as a first group of three-dimensional edges, and for extracting at least three three-dimensional edges that extend in the specific direction from a second three-dimensional model, as a second group of three-dimensional edges,

a specifying unit for specifying a relative position against other plural three-dimensional edges in each of the first group of three-dimensional edges and a relative position against other plural three-dimensional edges in each of the second group of three-dimensional edges,

a similarity calculating unit for calculating a similarity between the relative position in each of the first group of three-dimensional edges and the relative position in each of the second group of three-dimensional edges, and

a selecting unit for selecting one edge in the second group of three-dimensional edges corresponding to one edge in the first group of three-dimensional edges based on the similarity.

2. The optical data processing device according to claim 1, wherein the relative position is specified based on a distance between a target three-dimensional edge and the other three-dimensional edge and an angle direction of the other three-dimensional edge viewed from the target three-dimensional edge.

3. The optical data processing device according to claim 2, wherein the relative position is defined by a combination of multiple vectors in which a specific three-dimensional edge and other multiple three-dimensional edges are connected.

4. The optical data processing device according to claim 3, wherein the similarity is evaluated by lengths of the multiple vectors and angles of the multiple vectors against a predetermined first direction.

5. The optical data processing device according to claim 1, wherein the specific direction is a perpendicular direction.

6. The optical data processing device according to claim 1, wherein the three-dimensional edge is specified by endpoints of a line segment that constitutes the three-dimensional edge.

7. The optical data processing device according to claim 1, wherein at least one of the first three-dimensional model and the second three-dimensional model is a three-dimensional model based on a stereophotographic image.

8. The optical data processing device according to claim 7, further comprising an external orientation element calculating unit for calculating an external orientation element of left and right photographic images based on a perpendicular edge in the left and right photographic images that constitute the stereophotographic image.

9. The optical data processing device according to claim 8,

wherein the three-dimensional model based on a stereophotographic image expands or contracts, and

the optical data processing device further comprises

a scale adjusting unit for adjusting a scale of the three-dimensional model based on a stereophotographic image, so as to match each position of the first group of three-dimensional edges and each position of the second group of three-dimensional edges selected by the selecting unit, and

a three-dimensional model integrating unit for integrating the three-dimensional model based on a stereophotographic image in which the scale is adjusted and other three-dimensional models, based on a combination of the first group of three-dimensional edges and the second group of three-dimensional edges selected by the selecting unit.

10. The optical data processing device according to claim 1, wherein the first three-dimensional model is a three-dimensional model based on a three-dimensional point cloud position data obtained by a reflected light of a laser beam, and the second three-dimensional model is a three-dimensional model based on a stereophotographic image or the first three-dimensional model and the second three-dimensional model are three-dimensional models based on a stereophotographic image.

11. The optical data processing device according to claim 1, wherein the first three-dimensional model and the second three-dimensional model are three-dimensional models based on three-dimensional point cloud position data obtained by a reflected light of a laser beam.

12. An optical data processing system comprising:

an extracting means for extracting at least three three-dimensional edges that extend in a specific direction from a first three-dimensional model, as a first group of three-dimensional edges, and for extracting at least three three-dimensional edges that extend in the specific direction from a second three-dimensional model, as a second group of three-dimensional edges,

a specifying means for specifying a relative position against other plural three-dimensional edges in each of the first group of three-dimensional edges and a relative position against other plural three-dimensional edges in each of the second group of three-dimensional edges,

a similarity calculating means for calculating a similarity between the relative position in each of the first group of three-dimensional edges and the relative position in each of the second group of three-dimensional edges, and

a selecting means for selecting one edge in the second group of three-dimensional edges corresponding to one edge in the first group of three-dimensional edges based on the similarity.

13. An optical data processing method comprising:

an extracting step for extracting at least three three-dimensional edges that extend in a specific direction from a first three-dimensional model, as a first group of three-dimensional edges, and for extracting at least three three-dimensional edges that extend in the specific direction from a second three-dimensional model, as a second group of three-dimensional edges,

a specifying step for specifying a relative position against other plural three-dimensional edges in each of the first group of three-dimensional edges and a relative position against other plural three-dimensional edges in each of the second group of three-dimensional edges,

a similarity calculating step for calculating a similarity between the relative position in each of the first group of three-dimensional edges and the relative position in each of the second group of three-dimensional edges, and

a selecting step for selecting one edge in the second group of three-dimensional edges corresponding to one edge in the first group of three-dimensional edges based on the similarity.

14. An optical data processing program that is read and run by a computer, the program actuating the computer as the following means:

an extracting means for extracting at least three three-dimensional edges that extend in a specific direction from a first three-dimensional model, as a first group of three-dimensional edges, and for extracting at least three three-dimensional edges that extend in the specific direction from a second three-dimensional model, as a second group of three-dimensional edges,

a specifying means for specifying a relative position against other plural three-dimensional edges in each of the first group of three-dimensional edges and a relative position against other plural three-dimensional edges in each of the second group of three-dimensional edges,

a similarity calculating means for calculating a similarity between the relative position in each of the first group of three-dimensional edges and the relative position in each of the second group of three-dimensional edges, and

a selecting means for selecting one edge in the second group of three-dimensional edges corresponding to one edge in the first group of three-dimensional edges based on the similarity.