Survey apparatus, computer-readable storage medium and survey method

• US 9,646,213 B2
• Filed: 11/19/2012
• Issued: 05/09/2017
• Est. Priority Date: 12/27/2011
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Shimomura, Teruo, Totoki, Shin, Kuzunishi, Kazuyoshi
• Primary Examiner(s): Bella, Matthew
• Assistant Examiner(s): TORRES, JOSE
• Application Number:
  US13/680,146
• Publication Number:
  US 20130163820A1
• Time in Patent Office: 1,632 Days
• Field of Search: None
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A determination unit determines, on images of video data where a road set as a survey target was shot in different times, whether or not the shooting position of the image is within a tolerance value with the shooting position of any of the images as a reference, for each image having a corresponding shooting position. When the shooting position is determined to be within the tolerance value, a creation unit creates screen information of a screen where images that has been determined to be within the tolerance value is displayed in synchronization. Moreover, when the shooting position is determined to be beyond the tolerance value, the creation unit creates screen information of a screen where an image that has been determined to be beyond the tolerance value is undisplayed.

Claims

1. A survey apparatus comprising:

a memory; and

a processor coupled to the memory, the processor being configured to execute a process including;

acquiring a plurality of sets of image information, each of the sets of image information including a plurality of images of a road and a plurality of position information, the images being continuously shot by a camera mounted on a vehicle in a shooting cycle, the plurality of position information respectively corresponding to images among the images shot by the camera, indicating shooting positions of the images, and being acquired in a longer cycle than the shooting cycle of the camera;

calculating shooting positions of images among the images shot by the camera, for which the shooting positions have not been acquired, by an interpolation using a number of images shot during the longer cycle, the memory storing the acquired plurality of sets of image information and a plurality of position information including the acquired plurality of position information and the calculated shooting positions;

determining, by referring to the memory, whether a shooting position of a first image is within a tolerance value from a shooting position of a second image based on a first set of image information and a second set of image information, the first image being included in the first set of image information, the second image being included in the second set of image information, the first set of image information and the second set of image information being each one of the plurality of sets of image information, the first set of image information and the second set of image information being shot respectively in a first time and a second time;

creating, when determining that the shooting position of the first image is within the tolerance value, screen information of a screen where the first image included in the first set of image information is displayed in synchronization with the second image included in the second set of image information, and when the shooting position of the first image is determined to be beyond the tolerance value, creating screen information of a screen where the first image included in the first set of image information is undisplayed; and

outputting the created screen information.

2. The survey apparatus according to claim 1, the process further including accepting designation of a set of image information as the second set of image information.

3. A survey apparatus comprising:

a memory; and

a processor coupled to the memory, the processor being configured to execute a process including;

referring to the memory that stores a plurality of sets of image information, each of the sets of image information including a plurality of images of a road and a plurality of position information, the images having been continuously shot by a camera mounted on a vehicle, the plurality of position information respectively corresponding to the plurality of images and respectively indicating shooting positions of the plurality of images;

determining whether a shooting position of a first image is within a tolerance value from a shooting position of a second image based on a first set of image information and a second set of image information, the first image being included in the first set of image information, the second image being included in the second set of image information, the first set of image information and the second set of image information being each one of the plurality of sets of image information, the first set of image information and the second set of image information being shot respectively in a first time and a second time, wherein the tolerance value is set by calculating a distance in a depth direction corresponding to a length in a longitudinal direction of the second image and a distance in a right and left direction corresponding to a width in a lateral direction of the second image versus the longitudinal direction, using a fixing angle of the camera and the camera'"'"'s angle of view to calculate coordinates in a three-dimensional space of a region shown in the second image, and by determining whether or not the first image and the second image at least partially overlap using the calculated coordinates and a distance between the first image and the second image.

4. A non-transitory computer-readable storage medium storing a survey program causing a computer to perform:

determining whether a shooting position of a first image is within a tolerance value from a shooting position of a second image based on a first set of image information, a second set of image information, and a plurality of position information, the first image being included in the first set of image information, the second image being included in the second set of image information, the first set of image information and the second set of image information being each one of a plurality of sets of image information that are stored in a storage unit, each of sets of image information including a plurality of images of a road that have been continuously shot by a camera mounted on a vehicle, the first set of image information and the second set of image information being shot respectively in a first time and a second time, the storage unit also storing the plurality of position information, that respectively correspond to the plurality of images and indicate shooting positions of the plurality of images, wherein the plurality of position information are acquired in a longer cycle than a shooting cycle of the camera and include shooting positions calculated for images, for which the shooting positions have not been acquired, by an interpolation using a number of images shot during the longer cycle; and

creating, when the shooting position of the first image is determined to be within the tolerance value, screen information of a screen where the first image included in the first set of image information is displayed in synchronization with the second image included in the second set of image information, and when the shooting position of the first image is determined to be beyond the tolerance value, creating screen information of a screen where the first image included in the first set of image information is undisplayed.

5. A survey method comprising:

determining, by a computer, whether a shooting position of a first image is within a tolerance value from a shooting position of a second image based on a first set of image information, a second set of image information, and a plurality of position information, the first image being included in the first set of image information, the second image being included in the second set of image information, the first set of image information and the second set of image information being each one of a sets of image information that are stored in a storage unit, each of the plurality of sets of image information including a plurality of images of a road that have been continuously shot by a camera mounted on a vehicle, the first set of image information and the second set of image information being shot respectively in a first time and a second time, the storage unit also storing the plurality of position information, that respectively correspond to the plurality of images and indicate shooting positions of the plurality of images, wherein the plurality of position information are acquired in a longer cycle than a shooting cycle of the camera and include shooting positions calculated for images, for which the shooting positions have not been acquired, by an interpolation using a number of images shot during the longer cycle; and

creating, when the shooting position of the first image is determined to be within the tolerance value, screen information of a screen where the first image included in the first set of image information is displayed in synchronization with the second image included in the second set of image information, and when the shooting position of the first image is determined to be beyond the tolerance value, creating screen information of a screen where the first image included in the first set of image information is undisplayed.