WO2010050162A1 - 道路計測装置及び道路計測方法 - Google Patents
道路計測装置及び道路計測方法 Download PDFInfo
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- WO2010050162A1 WO2010050162A1 PCT/JP2009/005582 JP2009005582W WO2010050162A1 WO 2010050162 A1 WO2010050162 A1 WO 2010050162A1 JP 2009005582 W JP2009005582 W JP 2009005582W WO 2010050162 A1 WO2010050162 A1 WO 2010050162A1
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- WIPO (PCT)
- Prior art keywords
- road
- photographing
- image
- road surface
- angle
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
Definitions
- the present invention relates to a road measurement device and a road measurement method, and more particularly to a road measurement device and a road measurement method for photographing a road surface and a roadside of a road and generating a scale image on the road image for confirming the width of the road.
- Patent Document 1 discloses a map creation support system that creates a map by acquiring position information and an image using a measurement vehicle.
- the above-described conventional technique is not configured to measure the width of the road or the like based on the image taken by the photographing means. Therefore, when the shooting conditions (height from the road surface and shooting direction) of the shooting means such as a camera mounted on the vehicle change according to the weight of the driver of the vehicle and the posture at the time of driving, the roads shot, etc. The point that the length of the object in the image changes is not taken into consideration.
- a four-wheeled vehicle is attached with a photographing device, a GPS receiver, etc. to photograph roads and the like to measure roads, but roads with narrow widths (for example, Article 42, Paragraph 2 of the Building Standards Act) Etc.) may cause troubles in the passage of the measurement vehicle, and there is also a problem that road measurement cannot be performed.
- the present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a road measuring device that can accurately measure the width of a road in an image even on a narrow road.
- the invention of the road measuring device includes a photographing means for photographing the road surface and the roadside of the road at predetermined timings, a height of the photographing means from the road surface, and the photographing means.
- Scale forming means for forming a scale image on a road image photographed by the photographing means according to a predetermined processing procedure from a change in angle between the photographing direction of the image and the direction parallel to the road surface, the photographing means and the scale forming means And a measurement vehicle that travels on a road that is an object to be photographed.
- the processing procedure includes, for each angle between the height of the photographing unit from the road surface and the photographing direction of the photographing unit and a direction parallel to the road surface.
- a table holding scale image formation parameters is included.
- the invention according to claim 3 is the road measuring device according to claim 1 or 2, wherein the scale image is a grid image in which rectangles of a predetermined size are arranged on a horizontal plane of the road image.
- the photographing means changes the photographing direction.
- the scale image is rotated so as to be parallel to the road surface in the road image according to the rotation angle rotated about the axis.
- the photographing unit photographs a predetermined number of images during the predetermined timing, and The brightness of the image at each predetermined timing is controlled based on a change in brightness.
- the measurement vehicle is a motorcycle, a small three-wheeled motor vehicle, or a bicycle.
- the invention according to claim 7 is the road measuring device according to any one of claims 1 to 6, wherein the input device inputs the instruction information to the photographing means while the vehicle is traveling. Is provided.
- the invention of the road measuring method according to claim 8 is the step of photographing the road surface and the roadside of the road with photographing means at every predetermined timing, and the height of the photographing means from the road surface and the photographing direction of the photographing means are the road surface. And a step of forming a scale image on a road image photographed by the photographing means from a change in angle formed with a parallel direction by a predetermined processing procedure.
- the width of the road in the image can be accurately measured even on a narrow road.
- a scale image can be easily formed.
- the brightness of the road image can be controlled.
- the seventh aspect of the invention it is possible to easily input instruction information even while the measuring vehicle is in operation.
- FIG. 1 It is a figure which shows the structural example of the measurement vehicle concerning this embodiment. It is a fragmentary perspective view of the driving operation part of a measurement vehicle. It is a figure which shows the example of the hardware constitutions of the computer which comprises the control apparatus accommodated in the control box. It is a functional block diagram of the road measuring device concerning this embodiment. It is a figure which shows the example of the measurement result of the road by the road measuring device concerning this embodiment. It is a figure which shows the panel used for the calibration of the lens of the camera which comprises an imaging
- FIG. 1 shows a configuration example of a measurement vehicle according to the present embodiment.
- the measurement vehicle 100 for example, a motorcycle, a small motorcycle, or a bicycle can be used.
- the example of FIG. 1 is a small three-wheeled motor vehicle, for example, which is equipped with an engine with a displacement of about 50 cc, one front wheel 102a and two rear wheels 102b, but is not limited thereto.
- the measuring vehicle 100 is a motorcycle or a bicycle, it has one front wheel 102a and one rear wheel 102b.
- the measurement vehicle 100 is provided with a photographing means 10 constituted by a CCD camera or the like, a coordinate acquisition device 12 constituted by a GPS receiver or the like, and a control box 14.
- a photographing means 10 constituted by a CCD camera or the like
- a coordinate acquisition device 12 constituted by a GPS receiver or the like
- a control box 14 the height from the road surface of the control device 28 and the photographing means 10 constituted by a computer, the angle at which the photographing direction is parallel to the road surface, and the angle at which the photographing means 10 is rotated as the photographing direction axis
- the photographing height / angle measuring unit 11 to be measured is accommodated.
- the photographing unit 10 photographs a road image including a road surface and a roadside at a predetermined timing.
- the “predetermined timing” is a timing at which the measurement vehicle 100 travels a predetermined distance from the previous shooting, or a predetermined time elapses from the previous shooting.
- the distance is used, it is acquired from a distance meter 26 described later.
- the time is used, it is acquired from a timer or the like.
- the photographing means 10 is attached at a position higher than the road surface, so when photographing the road surface and the roadside, the photographing direction is downward from the direction parallel to the road surface. .
- the traveling direction of the measuring vehicle 100 is changed on a curved road or the like, the vehicle body of the measuring vehicle 100 is tilted left and right, so that the photographing unit 10 rotates around the photographing direction.
- the height of the photographing means 10 from the road surface, the angle at which the photographing direction is parallel to the road surface, and the angle at which the photographing means 10 is rotated about the photographing direction are measured by the photographing height / angle measuring section 11. .
- the photographing height / angle measuring unit 11 measures the photographing height and angle using an inertial surveying device such as a combination of an accelerometer and a gyroscope or an IMU (Inertial Measurement Unit) based on the principle of inertial surveying.
- an inertial surveying device such as a combination of an accelerometer and a gyroscope or an IMU (Inertial Measurement Unit) based on the principle of inertial surveying.
- the output value (acceleration) of the accelerometer may be integrated twice to obtain the height
- the gyro output value angular velocity
- the present invention is not limited to this.
- the height can be obtained by laser ranging and the angle can be obtained by using an inclinometer.
- the positional relationship between the photographing height / angle measuring unit 11 and the photographing unit 10 is determined in advance, and the height from the road surface of the photographing unit 10 and the photographing direction are determined based on the change in the position and angle of the photographing height / angle measuring unit 11. Calculates the angle that the imaging means 10 rotates about the angle formed by the direction parallel to the road surface and the imaging direction.
- the photographing height / angle measuring unit 11 may be provided in the immediate vicinity of the photographing means 10.
- the coordinate acquisition device 12 acquires coordinate information of the position of the measurement vehicle 100 when the imaging unit 10 captures a road image using GPS or the like (global positioning system). In addition, it is good also as a structure which correct
- FIG. 2 shows a partial perspective view of the driving operation unit 104 of the measurement vehicle 100.
- the driving operation unit 104 is provided with a handle 16, a brake 18, an accelerator 20, an instrument panel 22, and the like necessary for driving the measurement vehicle 100.
- the handle 16 is provided with an input device 24, and the instrument panel 22 is provided with a distance meter 26.
- the input device 24 is a device for the driver to input instruction information to the control device 28, which will be described later, during traveling, and includes an appropriate switch such as a push button.
- the distance meter 26 displays the travel distance of the measurement vehicle 100 based on the rotational speed of the front wheels 102a or the rear wheels 102b.
- the distance meter 26 outputs the travel distance of the measurement vehicle 100 to the control device 28.
- time is used as shooting timing instead of distance, the elapsed time or shooting time from the previous shooting output by a timer or the like is used instead of the travel distance.
- FIG. 3 shows an example of the hardware configuration of a computer constituting the control device 28 housed in the control box 14.
- the control device 28 includes a central processing unit (for example, a CPU such as a microprocessor can be used) 30, a random access memory (RAM) 32, a read only memory (ROM) 34, an input interface 36, and a display device 38. And a hard disk device (HDD) 40. These components are connected to each other by a bus 42.
- a central processing unit for example, a CPU such as a microprocessor can be used
- RAM random access memory
- ROM read only memory
- HDD hard disk device
- the CPU 30 controls the operation of each unit described later based on a control program stored in the RAM 32 or the ROM 34.
- the RAM 32 mainly functions as a work area for the CPU 30, and the ROM 34 stores a control program such as BIOS and other data used by the CPU 30.
- the input interface 36 is an interface for receiving data from the photographing means 10, the photographing height / angle measuring unit 11, the coordinate acquisition device 12, the input device 24 and the distance meter 26 and passing it to the CPU 30.
- a keyboard, a pointing device, or the like may be connected to the input interface 36.
- the display device 38 is constituted by a liquid crystal display or the like, and displays a road image acquired by the photographing means 10 and a scale image formed on the road image. As a result, the driver of the vehicle can check the captured image at any time.
- the display device 38 does not need to be stored in the control box 14 and can be installed on the handle 16 or the like, for example. If there is no need to check on the spot, it is possible to provide an output terminal to an external monitor without providing the display device 38 and check after returning to the office or the like.
- the hard disk device 40 is a storage device, and stores various data necessary for processing to be described later.
- FIG. 4 shows a functional block diagram of the road measuring device according to the present embodiment.
- the road measurement device includes an image acquisition unit 44, an imaging height / angle acquisition unit 46, a calibration unit 48, a scale formation unit 50, an imaging timing reception unit 52, an instruction input reception unit 54, and a coordinate information acquisition unit 56.
- These functions are realized by, for example, the CPU 30 and a program for controlling the processing operation of the CPU 30.
- the image acquisition unit 44 acquires a road image including road surface images and roadside images from the photographing means 10 via the input interface 36.
- the photographing instruction signal is sent to the photographing means 10 so as to photograph the road surface and the roadside at every predetermined traveling distance or every predetermined elapsed time from the previous photographing. Is output to control the shooting time.
- coordinate information is received from a coordinate information acquisition unit 56 described later, and the road image and the coordinate information are associated with each other. This road image is stored in the hard disk device 40 or the like.
- the operator adjusts the iris of the camera while viewing the captured image, but in photography using a motorcycle, a small three-wheeled motor vehicle, or a bicycle, the operator adjusts the iris separately. I can't. For this reason, the gain of the camera is automatically adjusted. However, especially when the shooting interval is long and there is a significant change in brightness between the shot images, the surroundings until the next instruction signal is input. As the amount of light changes, there is a problem that gain adjustment cannot be made in time for shooting.
- the image acquisition unit 44 causes the photographing unit 10 to photograph a road image, and a predetermined number of road images are displayed on the photographing unit 10 at a timing between the instruction signal and the next instruction signal. It is good also as composition which makes it photograph.
- the image acquisition unit 44 calculates a change in brightness of each image necessary for gain adjustment or the like based on the road image taken between the instruction signal and the next instruction signal, and based on the change in brightness.
- the brightness of the road image acquired for each instruction signal can be controlled, and the change in brightness between the captured images can be reduced. It is not always necessary to record an image captured between the instruction signals, but it is also possible to record it together with the gain adjustment result in order to confirm the gain adjustment process.
- the photographing height / angle acquisition unit 46 determines the height from the road surface of the photographing means 10 via the input interface 36 from the photographing height / angle measurement unit 11, the angle at which the photographing direction is parallel to the road surface, and the photographing direction.
- the angle at which the photographing means 10 is rotated is acquired as an axis.
- the acquired height of the photographing means 10 from the road surface, the angle at which the photographing direction is parallel to the road surface, and the angle at which the photographing means 10 is rotated about the photographing direction are passed to the calibration unit 48 and the scale forming unit 50. .
- the calibration unit 48 forms a scale for each angle that is passed from the photographing height / angle obtaining unit 46 and that makes the height from the road surface of the photographing means 10 and the photographing direction of the photographing means 10 parallel to the road surface.
- a forming parameter used when the unit 50 forms a scale image is generated.
- the formation parameter can be generated in the form of a table or an arithmetic expression. The formation parameter generation procedure will be described later.
- the scale forming unit 50 is a road image photographed by the photographing means 10 in accordance with a predetermined processing procedure based on a change in the height from the road surface of the photographing means 10 and an angle between the photographing direction of the photographing means 10 and the direction parallel to the road surface.
- a scale image is formed on the top. From this scale image, for example, the width of a road, the position and size of a crack, and the like can be confirmed.
- the formation generated by the calibration unit 48 is based on the height from the road surface of the imaging means 10 acquired by the imaging height / angle acquisition unit 46 and the angle between the imaging direction and the direction parallel to the road surface. Select a parameter to form a scale image.
- the scale forming unit 50 rotates the scale image so as to be parallel to the road surface in the road image according to the angle passed from the shooting height / angle acquisition unit 46 and rotated by the shooting unit 10 around the shooting direction. Let The scale image and the processing procedure will also be described later.
- the photographing timing reception unit 52 receives the travel distance of the measurement vehicle 100 from the distance meter 26 via the input interface 36, and outputs an instruction signal for each predetermined travel distance. This instruction signal is used for controlling the photographing time of the photographing means 10 by the image acquisition unit 44.
- an output from a timer or the like is received via the input interface 36, and an instruction signal is output every predetermined elapsed time from the previous shooting.
- the instruction input receiving unit 54 receives instruction information input from the input device 24 by the driver via the input interface 36. This instruction information is output to the image acquisition unit 44 and controls the operations of the photographing unit 10 and the calibration unit 48. Accordingly, the image acquisition unit 44 performs control such as changing the shooting timing of the shooting unit 10 or stopping shooting. In addition, the calibration unit 48 acquires an instruction necessary for generating the formation parameter.
- the coordinate information acquisition unit 56 acquires coordinate information from the coordinate acquisition device 12 via the input interface 36.
- the acquired coordinate information is passed to the image acquisition unit 44, and is associated with a road image including the road surface and roadside images acquired from the photographing means 10.
- the coordinate information acquisition unit 56 may be configured to acquire coordinate information in synchronization with an instruction signal output from the imaging timing reception unit 52.
- FIGS. 5A and 5B show examples of road measurement results obtained by the road measurement device according to the present embodiment. These measurement results are displayed on the display device 38 by the image acquisition unit 44, for example. Further, the measurement result data may be provided to another computer by communication or other methods, displayed on the computer, or printed out by a printing apparatus.
- FIG. 5A on the road R, the shooting position by the shooting means 10 is displayed with white circles.
- the shooting position is determined based on the coordinate information received by the image acquisition unit 44 from the coordinate information acquisition unit 56.
- a point indicated by a white circle is designated by a pointing device such as a mouse
- a road image at that point is displayed.
- FIG. 5B is an example of a road image when the point X in FIG. 5A is designated.
- a scale image S formed by the scale forming unit 50 is displayed together with a road image including the road surface and the roadside of the road R.
- the scale image S is obtained by dividing the length photographed at the bottom of the photographing screen into predetermined lengths, for example, every 1 m, and extending vertically from each division point in parallel to the depth direction of the image, and perpendicular to the vertical lines.
- a rectangle of a predetermined size is formed as a grid image in which the road image is aligned on the horizontal plane.
- the interval between the horizontal lines is also 1 m, for example.
- a scale such as a tenth (10 cm interval) or a fifth (20 cm interval) between the vertical lines (for example, 1 m). In the example of FIG. 5B, scales with an interval of 10 cm are attached.
- FIG. 6 shows a panel used for calibration of the lens of the camera constituting the photographing means 10.
- a checkered pattern (a pattern in which black and white squares are alternately drawn up and down, left and right) is formed on the panel of FIG.
- the checkerboard pattern is photographed, and correction parameters such as a lens center position, a focal length, and a lens distortion coefficient are calculated by an existing method such as a Tsai calibration method.
- the calculated correction parameter is used for correcting the road image acquired by the image acquisition unit 44 from the photographing unit 10. Thereby, the image acquisition part 44 can correct
- FIG. 7 shows an explanatory diagram of the relationship between the height of the camera constituting the photographing means 10 from the road surface and the angle at which the photographing direction is parallel to the road surface, and the length photographed by the photographing means 10.
- the length photographed by the photographing means 10 refers to the length photographed (entered on the screen) at the bottom of the photographing screen in the example shown in FIG. 5B, for example.
- the camera 1, the camera 2 and the camera 3 are arranged at different heights and at angles formed in directions parallel to the road surface.
- the camera 1 has a height h1 and an angle ⁇ 1 made parallel to the road surface
- the camera 2 has a height h2 and an angle ⁇ 2 made parallel to the road surface
- the camera 3 has a height h3 and a direction parallel to the road surface. Is the angle ⁇ 3.
- the length photographed by the camera 1 is an arbitrarily determined distance from the base point P to L1
- the length photographed by the camera 2 is the distance from the base point P to L2.
- the length to be photographed is the distance from the base point P to L3.
- the rectangular size of the scale image S formed by the scale forming unit 50 also needs to be changed according to the height from the road surface and the angle formed with the direction parallel to the road surface.
- FIG. 8 shows an example of a shooting screen shot by the shooting means 10 when performing calibration.
- FIG. 8 is a photograph of a high-intensity reflective sheet or the like placed at each vertex of a rectangle of a predetermined size (for example, a square with one side of 1 m) on the ground or the like as a calibration figure. This rectangle becomes a scale image. Note that the broken lines in FIG. 8 indicate that each side of the rectangular image is photographed shorter as it goes in the depth direction of the photographing screen, and as a result, the length of the photographing on the photographing screen becomes longer.
- a predetermined size for example, a square with one side of 1 m
- the length D between the vertices at both ends (indicated by black circles) on the bottom side of the shooting screen is displayed short on the back side of the shooting screen, and the length that fits in the horizontal direction of the shooting screen is increased accordingly.
- how long the image fits in the horizontal and vertical directions of the shooting screen, and the rate at which each vertex approaches as it goes in the depth direction, that is, the slope of the broken line in FIG. 8, is shown in FIG. It is determined by the height of the camera from the road surface and the angle formed with the direction parallel to the road surface. Therefore, the image shown in FIG.
- the calibration unit 48 obtains the coordinates of each vertex at that time. It is determined as a scale image formation parameter for each angle between the height and the direction parallel to the road surface.
- the formation parameters are stored in a storage device such as the hard disk device 40 as a table. In this case, the height from the road surface and the increment of the angle formed in the direction parallel to the road surface are appropriately determined according to the accuracy required for the scale image.
- the coordinates of each vertex are coordinates in the photographing screen, and can be represented by, for example, the xy coordinates shown in FIG. 8 with the upper left corner of the screen as the origin.
- the formation parameter may be in the form of an arithmetic expression instead of the table form.
- FIG. 9 shows an example of a formation parameter table generated by the calibration unit 48.
- “Angle” represents an angle formed in a direction parallel to the road surface
- “Height” represents a height from the road surface of the camera.
- the “starting point” is the coordinates of the vertex on the bottom of the shooting screen
- the “intercept” is the vertical line C (indicated by a broken line in FIG. 8) of the scale image drawn at the center of the shooting screen.
- the “horizontal line position” is the y coordinate of each vertex.
- the position of the vertical line of the scale image is determined by the starting point, the inclination of each vertical line is determined by the intercept, and the position of the horizontal line is determined by the horizontal line position.
- the scale forming unit 50 can form a scale image from the above formation parameters.
- the scale forming unit 50 forms a scale image
- the height from the road surface of the photographing means 10 and the photographing direction acquired by the photographing height / angle obtaining unit 46 are set to an angle that is parallel to the road surface.
- the formation parameter generated by the calibration unit 48 is selected. That is, since the formation parameters are generated for each angle formed in the direction parallel to the height and the road surface, in the processing procedure, the shooting height / angle acquisition unit 46 acquires the road image when the shooting unit 10 captures the road image.
- the formation parameters matching the height and the angle formed with the direction parallel to the road surface are selected, and a scale image is formed using the formation parameters.
- the angle formed with the height and the direction parallel to the road surface acquired by the photographing height / angle acquisition unit 46 is a value that does not coincide with the angle formed with the height and the direction parallel to the road surface.
- the number of formation parameters to be selected can be appropriately determined according to the accuracy of the scale image.
- FIG. 10 shows an explanatory diagram of the movement of the photographing means 10 rotating around the photographing direction when the measuring vehicle 100 changes the traveling direction.
- the measuring vehicle 100 a motorcycle, a small tricycle, or a bicycle is used. Therefore, when the traveling direction is changed in a curve or the like, the vehicle body is inclined toward the inside of the curve. For this reason, the photographing means 10 rotates around the photographing direction.
- the vehicle body of the measurement vehicle 100 is inclined at an angle ⁇ about the traveling direction as an axis about the contact point between the front wheel and the road surface on either the left or right side.
- the photographing means 10 also rotates an angle ⁇ around the center of the lens with the photographing direction as an axis.
- the photographing screen photographed by the photographing means 10 is also inclined by the angle ⁇ .
- the angle ⁇ rotated by the photographing unit 10 about the photographing direction is measured by the photographing height / angle measuring unit 11 described above, and the photographing height / angle obtaining unit 46 obtains a measured value.
- FIG. 11 shows an example of a shooting screen in which the shooting means 10 is tilted to the left by the rotation angle ⁇ .
- This photographing screen includes a scale image S together with a road image including the road surface and roadside of the road R.
- the scale forming unit 50 acquires the rotation angle ⁇ of the photographing unit 10 from the photographing height / angle obtaining unit 46, and rotates the formed scale image S to the right by the rotation angle ⁇ as shown in FIG. Let Thereby, the scale image S can be made parallel to the road surface in the road image, and the width of the road can be accurately grasped.
- the calibration unit 48 shoots images by changing the angle of rotation about the shooting direction in addition to the height from the road surface and the angle parallel to the road surface to generate formation parameters. Also good.
- FIG. 12 shows a flow of an operation example of the road measuring device according to the present embodiment.
- the calibration unit 48 generates a formation parameter by the method described in FIG. 8, for example (S1).
- the image acquisition unit 44 causes the imaging unit 10 to capture a road image at each predetermined timing, and acquires this road image (S2).
- the coordinate information acquisition unit 56 acquires coordinate information of the position where the road image is captured from the coordinate acquisition device 12.
- the photographing height / angle acquisition unit 46 determines the height from the road surface of the photographing means 10 when photographing a road image and the angle at which the photographing direction is parallel to the road surface from the photographing height / angle measurement unit 11. Obtain (S3).
- the scale forming unit 50 includes a height and a road surface that coincide with an angle formed in a direction parallel to the height and the road surface acquired by the imaging height / angle acquisition unit 46 in the formation parameters generated by the calibration unit 48. It is confirmed whether there is a formation parameter having an angle formed with the parallel direction (S4). If there is a formation parameter whose height and angle formed in a direction parallel to the road surface coincide, a scale image is generated based on the formation parameter (S5). On the other hand, in S4, if there is no formation parameter that matches the height and the angle parallel to the road surface, a plurality of formation parameters that approximate the height and the angle parallel to the road surface are selected. Then, a scale image is formed by an appropriate interpolation process such as a linear interpolation method (S6).
- S6 linear interpolation method
- the above-described program for executing the steps of FIG. 12 can be stored in a recording medium, and the program may be provided by communication means.
- the above-described program may be regarded as an invention of a “computer-readable recording medium recording the program”.
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Abstract
Description
Claims (8)
- 道路の路面及び沿道を所定のタイミング毎に撮影する撮影手段と、
前記撮影手段の路面からの高さ及び前記撮影手段の撮影方向が路面と平行な方向となす角度の変化から、予め決定した処理手順により前記撮影手段が撮影した道路画像上に目盛画像を形成する目盛形成手段と、
前記撮影手段及び前記目盛形成手段を保持し、撮影対象である道路上を走行する計測車両と、
を備えることを特徴とする道路計測装置。 - 請求項1記載の道路計測装置において、前記処理手順には、前記撮影手段の路面からの高さ及び前記撮影手段の撮影方向が路面と平行な方向となす角度毎に目盛画像の形成パラメータを保持するテーブルが含まれることを特徴とする道路計測装置。
- 請求項1または請求項2記載の道路計測装置において、前記目盛画像は、所定の大きさの矩形が道路画像の水平面上に並んだ碁盤目画像であることを特徴とする道路計測装置。
- 請求項1から請求項3のいずれか一項記載の道路計測装置において、前記目盛形成手段は、前記計測車両が進行方向を変えるときに、前記撮影手段が撮影方向を軸として回転した回転角度に応じて前記目盛画像を道路画像における路面と平行になるように回転させることを特徴とする道路計測装置。
- 請求項1から請求項4のいずれか一項記載の道路計測装置において、前記撮影手段は、前記所定のタイミングの間に所定枚数の画像を撮影し、各画像の明るさの変化に基づき前記所定のタイミング毎の画像の明るさを制御することを特徴とする道路計測装置。
- 請求項1から請求項5のいずれか一項記載の道路計測装置において、前記計測車両は、自動二輪車、小型自動三輪車または自転車であることを特徴とする道路計測装置。
- 請求項1から請求項6のいずれか一項記載の道路計測装置において、前記計測車両には、前記撮影手段に対して指示情報を走行中に入力するための入力装置が備えられていることを特徴とする道路計測装置。
- 道路の路面及び沿道を所定のタイミング毎に撮影手段で撮影する工程と、
前記撮影手段の路面からの高さ及び前記撮影手段の撮影方向が路面と平行な方向となす角度の変化から、予め決定した処理手順により前記撮影手段が撮影した道路画像上に目盛画像を形成する工程と、
を備えることを特徴とする道路計測方法。
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CN2009801423814A CN102197276A (zh) | 2008-10-28 | 2009-10-23 | 道路计测装置及道路计测方法 |
US13/126,304 US20110205365A1 (en) | 2008-10-28 | 2009-10-23 | Road measurement device and method for measuring road |
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US20110205365A1 (en) | 2011-08-25 |
EP2348279A1 (en) | 2011-07-27 |
CN102197276A (zh) | 2011-09-21 |
EP2348279A4 (en) | 2013-10-09 |
EP2348279B1 (en) | 2017-05-03 |
JP5100845B2 (ja) | 2012-12-19 |
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