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Measuring device and measuring method

外国特許コード F110003081
整理番号 139-EP
掲載日 2011年6月6日
出願国 欧州特許庁(EPO)
出願番号 08711339
公報番号 2120009
公報番号 2120009
出願日 平成20年2月15日(2008.2.15)
公報発行日 平成21年11月18日(2009.11.18)
公報発行日 平成28年9月7日(2016.9.7)
国際出願番号 JP2008052509
国際公開番号 WO2008099915
国際出願日 平成20年2月15日(2008.2.15)
国際公開日 平成20年8月21日(2008.8.21)
優先権データ
  • 2008JP052509 (2008.2.15) WO
  • 特願2007-035918 (2007.2.16) JP
発明の名称 (英語) Measuring device and measuring method
発明の概要(英語) It is an object to measure a position of a feature around a road.
An image memory unit stores images in which neighborhood of the road is captured.
Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model.
A model projecting unit 172 projects a point cloud on the image, and an image displaying unit 341 displays the point cloud superimposed with the image on the displaying device.
Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point.
A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud.
A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
特許請求の範囲(英語) [claim1]
1. A measurement apparatus (700) comprising: an image memory unit (708) for storing an image captured by a camera; a three-dimensional point cloud model memory unit (709) for storing a point cloud which is formed by a point cloud measured by a laser device (240) and of which a three-dimensional position is known as a three-dimensional point cloud model; an image displaying unit (341) for displaying and superimposing the image stored in the image memory unit (708) and a three-dimensional point cloud model, which corresponds to and image out of the dimensional point cloud model, which corresponds to the image out of the three-dimensional point cloud model stored in the three-dimensional point cloud model memory unit (709), on a screen of a displaying device (901), and for prompting a user to specify a position within the image which the user watches; a measurement image point obtaining unit (342) for inputting the position within the image specified by the user as a measurement image point from an inputting device; a corresponding point detecting unit (171) for detecting a corresponding point corresponding to the measurement image point obtained by the measurement image point obtaining unit (342) from the point cloud of the three-dimensional point cloud model stored by the three-dimensional point cloud model memory unit (709); and a position calculating unit (174) for discriminating a three-dimensional position of the measurement image point obtained by the measurement image point obtaining unit (342) using a three-dimensional position of the corresponding point detected by the corresponding point detecting unit (171); characterized in that
the measurement apparatus (700) further comprises a feature region detecting unit (701) for analysing the image stored in the image memory unit (708) and detecting an image region in which the feature for the measurement target is captured as a feature image region;
wherein the image displaying unit (341) is configured to prompt a user to specify a position within the feature image region detected by the feature region detecting unit; and
wherein the measurement image point obtaining unit (342) is configured to input the position within the feature image region specified by the user as the measurement image point.
[claim2]
2. The measurement apparatus (700) of claim 1, wherein the corresponding point detecting unit (171), when a point of the point cloud displayed within the feature image region detected by the feature region detecting unit (701) exists at the position in the image shown by the measurement image point, is configured to detect the point as the corresponding point corresponding to the measurement image point.
[claim3]
3. The measurement apparatus (700) of claim 1 further comprising: a result memory unit (599) for assuming the three-dimensional position discriminated by the position calculating unit (174) as a three-dimensional position of the feature for the measurement target, and storing the three-dimensional position by relating to a type of the feature for the measurement target.
[claim4]
4. A measuring method comprising: providing an image captured by a camera, and stored in an image memory unit (708); providing a point cloud which is formed by a point cloud measured by a laser device (240) and of which a three-dimensional position is known as a three-dimensional point cloud model; by an image displaying unit (341), performing an image displaying process for displaying and superimposing the image stored in the image memory unit (708) and a three-dimensional point cloud model, which corresponds to the image out of the three-dimensional point cloud model, on a screen of a displaying device (901), and prompting a user to specify a position within the image which the user watches by a measurement image point obtaining unit (342), performing a measurement image point obtaining process for inputting the position within the image specified by the user as a measurement image point from an inputting device; by a corresponding point detecting unit (171), performing a corresponding point detecting process for detecting a corresponding point corresponding to the measurement image point obtained by the measurement image point obtaining unit (342) from the point cloud of the three-dimensional point cloud model; and by a position calculating unit (174), performing a position calculating process for discriminating a three-dimensional position of the measurement image point obtained by the measurement image point obtaining unit (342) using a three-dimensional position of the corresponding point detected by the corresponding point detecting unit (171), and generating measurement position data showing the three-dimensional position of the measurement image point discriminated; characterized in that the method further comprises: by a feature region detecting unit (701), analysing the image stored in the image memory unit (708) and detecting an image region in which the feature for the measurement target is captured as a feature image region; wherein the user is prompted by the image displaying unit (341) to specify a position within the feature image region detected by the feature region detection unit (701); and wherein the position within the feature image region specified by the user is input as the measurement image point by the measurement image point obtaining process.
  • 出願人(英語)
  • MITSUBISHI ELECTRIC
  • WASEDA UNIVERSITY
  • 発明者(英語)
  • TAKIGUCHI JUNICHI
  • KAJIWARA NAOYUKI
  • SHIMA YOSHIHIRO
  • KUROSAKI RYUJIRO
  • HASHIZUME TAKUMI
国際特許分類(IPC)
欧州特許分類/主・副
  • G01C021/36C
  • G06T007/00R3
  • S06T207/10028
  • S06T207/20101
  • S06T207/20221
  • S06T207/30252
指定国 Contracting States: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR
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