Image measurement and display device, image measurement and display system, construction management method, and construction status monitor system

• US 6,928,384 B2
• Filed: 05/29/2002
• Issued: 08/09/2005
• Est. Priority Date: 05/29/2001
• Status: Active Grant

• Current Assignee: Topcon Corporation
• Original Assignee: Topcon Corporation
• Inventors: Kochi, Nobuo
• Primary Examiner(s): Barlow, John
• Assistant Examiner(s): Washburn, Douglas N
• Application Number:
  US10/156,763
• Publication Number:
  US 20030004645A1
• Time in Patent Office: 1,168 Days
• Field of Search: 356/2, 356/601, 356/3, 356/388, 356/392, 382/190, 382/102, 382/106, 382/108, 382/141, 382/153, 382/154, 702/1, 702/2, 702/5, 702/127, 702/150, 702/151, 702/152, 702/153, 702/155, 702/156, 702/158, 702/159, 702/FOR.110, 702/16, 702/33, 702/167, 337/00, 337/01, 342/118, 345/7, 345/9, 345/418, 345/419, 345/501, 345/530, 367/118, 367/119, 367/124, 404/84.05, 404/84.5, 700/90, 700/98, 700/108, 700/109, 700/118, 700/120
• US Class Current: 702/155
• CPC Class Codes: G01C 1/04 combined with cameras
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A device includes a shape measuring section 350 for measuring shape data from a pair of stereovision images of an object taken with an image taking section 2209 a memory section 340 for storing target data related to the images of the object; an image display section 330 for superposing the paired stereovision images of the object and the stereovision target data image based on the target data and for displaying the images; and a comparison display processing section 360 for comparing the shape data of the object measured by the shape measuring section 350, with the target data and reflecting the results of the comparison on the superposed display on the image display section 330.

Claims

1. An image measurement and display device comprising:

a shape measuring section for measuring shape data of an object under construction from a pair of stereovision images of the object taken with an image taking section;

a memory section for storing target data related to the images of the object;

an image display section for displaying in superposition the paired stereovision images of the object and stereovision target data images of the object based on the target data; and

a comparison display processing section for comparing the shape data of the object with the target data and for reflecting the comparison results on the superposed display on the image display section; and

an intermediate target data setting means for setting intermediate target data as the target data for the comparison display processing section and the image display section, in every stage of the construction on the object, the comparison display processing section comparing the shape of the object with the shape corresponding to the intermediate target data.

2. An image measurement and display device according to claim 1, wherein, the comparison results obtained with the comparison display processing section are reflected so that the part where the shape of the object approximately agrees with the shape corresponding to the target data is displayed distinguishably on the image display section.

3. An image measurement and display device according to claim 2, wherein, as the results of the comparison with the comparison display processing section, the distance or interval to the object is associated with that to the target data and then the comparative sizes of the object and the target data are displayed distinguishably on the image display section.

4. An image measurement and display device according to claim 1, wherein, as the results of the comparison with the comparison display processing section, the distance or interval to the object is associated with that to the target data and then the comparative sizes of the object and the target data are displayed distinguishably on the image display section.

5. An image measurement and display device comprising:

a shape measuring section for measuring shape data of an object under construction from a pair of stereovision images of an object taken with an image taking section;

an imaging position measuring section for measuring the position where the image taking section takes images of the object;

a memory section for storing target data related to the images of the object;

an image display section for displaying in superposition the image of the object and the target data image based on the target data, on the basis of the imaging position measured with the imaging position measuring section; and

a comparison display processing section for comparing, on the basis of the imaging position measured with the imaging position measuring section, the shape of the object with the shape corresponding to the target data, and for reflecting the comparison results on the superposed display on the image display section; and

an intermediate target data setting means for setting intermediate target data as the target data for the comparison display processing section and the image display section, in every stage of the construction on the object, the comparison processing section comparing the shape of the object with the shape corresponding to the intermediate target data.

6. An image measurement and display device comprising:

a shape measuring section for measuring the shape data of an object from a pair of stereovision images of the object taken with an image taking section;

a memory section for storing target data related to the images of the object;

an image observing section for superposing the object related to the target data and the stereovision target data image of the object based on the target data and for displaying with the object remaining to be visible with at least one of a head-up display and a head-mount display; and

a comparative observation display processing section for comparing the shape of the object measured by the shape measuring section, with the shape corresponding to the target data and for reflecting the result of the comparison on the stereovision target data image display of the image observing section.

7. An image measurement and display device according to claim 6, wherein the comparison results obtained with the comparative observation display processing section are reflected so that the part where the shape of the object approximately agrees with the shape corresponding to the target data is displayed distinguishably on the image observation section.

8. An image measurement and display device according to claim 7, wherein, as the results of the comparison with the comparative display processing section, the distance or interval to the object is associated with that to the target data and the comparative sizes of the object and the target data are then displayed distinguishably on the image observation section.

9. An image measurement and display device according to claim 6, wherein the comparison results obtained with the comparative observation display processing section are reflected so that the part where the shape of the object approximately agrees with the shape corresponding to the target data is displayed distinguishably on the image observation section.

10. An image measurement and display device according to claim 9, wherein, as the results of the comparison with the comparative display processing section, the distance or interval to the object is associated with that to the target data and the comparative sizes of the object and the target data are then displayed distinguishably on the image observation section.

11. An image measurement and display device according to claim 6, wherein;

as the results of the comparison with the comparative display processing section, the distance or interval to the object is associated with that to the target data and the comparative sizes of the object and the target data are then displayed distinguishably on the image observation section.

12. An image measurement and display device comprising:

a shape measuring section for measuring the shape data of an object from a pair of stereovision images of the object taken with an image taking section;

an imaging position measuring section for measuring the imaging position of the image taking section;

a memory section for storing target data related to the images of the object;

an image observing section for superposing the object related to the target data, on the basis of the imaging position measured with the imaging position measuring section the stereovision target data image of the object based on the target data, and for displaying with the object remaining to be visible with at least one of a head-up display and a head-mount display; and

a comparative observation display processing section for comparing, on the basis of the imaging position measured with the imaging position measuring section, the shape of the object measured by the shape measuring section, with the shape corresponding to the target data and for reflecting the result of the comparison on the stereovision target data image display of the image observing section.

13. An image measurement and display system comprising:

an image taking section for taking a pair of stereovision images of an object;

an image display section for displaying the images taken with the image taking section; and

a construction status measuring device including a memory section for storing target data related to the images of the object and an image calculation processing section for processing the images of the object taken with the image taking section;

wherein the image measurement and display system is allowed to exchange data among the image taking section, the image display section, and the construction status measuring device;

the construction status measuring device further comprises a shape measuring section for measuring the shape of the object from the paired stereovision images taken with the image taking section and a comparison display processing section for comparing the shape of the object measured by the shape measuring section, with the shape corresponding to the target data; and

the image display section displays in superposition the image of the object taken with the image taking section and the target data image based on the target data sent from the construction status measuring device.

14. An image measurement and display system according to claim 13, wherein the data exchange among the image taking section, the image display section, and the construction status measuring device is performed by one of wireless, optical, Internet, and cable communications.

15. A method of managing construction, comprising the steps of:

determining the three-dimensional position of a construction display device with an image taking position measuring section;

acquiring distance images from multiple stereovision images in real time in two dimensions;

superposing, on the basis of the three-dimensional positions, the target data and the stereovision images of an object being processed and displaying the superposed image on the construction display device; and

causing a work machine to execute work according to the information on deviation of the stereovision images, related to the object being processed, from the target data.

16. A method of managing construction, comprising the steps of:

determining the three-dimensional position of a construction display device with a imaging position measuring section;

acquiring distance images from multiple stereovision images in real time in two dimensions;

measuring the multiple stereovision images;

analyzing construction progress status from the current status of an object being processed and target data; and

updating from time to time construction plan for realizing the target data according to the results of analyzing the construction progress status.

17. A system for monitoring the status of construction, comprising:

a shape measuring section for measuring shape data of an object under construction from a pair of stereovision images of the object taken with an image taking section;

a memory section for storing target data related to the images of the object;

an image display section for displaying in superposition the paired stereovision images of the object and stereovision target data images of the object based on the target data; and

a comparison display processing section for comparing the shape data of the object with the target data and for reflecting the comparison results on the superposed display on the image display section; and

a construction plan drafting and correcting means for calculating from the comparison results obtained with the comparison display processing section, the work related data for processing or treating an object to meet the target data.