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JP-2026075508-A - Generation apparatus, generation method, and generation program

JP2026075508AJP 2026075508 AJP2026075508 AJP 2026075508AJP-2026075508-A

Abstract

[Problem] To generate an appropriate map from images of the Earth's surface taken from the Earth's surface. [Solution] A generating device having a processor that executes a program and a storage device that stores the program stores terrain data that models the terrain having location information of each point on the terrain, first image data obtained by imaging a subject which is part of the terrain from a first imaging point on the terrain, and location information of the first imaging point. The generating device performs a determination process to determine a destination location to which to assign information of a specific pixel corresponding to the line of sight vector from the pixel group constituting the first image data, based on the direction of the line of sight vector from the first imaging point to the subject, and a generation process to generate map data corresponding to the terrain by assigning the information of the specific pixel determined by the determination process to the destination location. [Selection Diagram] Figure 1

Inventors

  • 長谷川 浩章
  • 籔内 真
  • 高橋 宏昌
  • 渡辺 康一

Assignees

  • 株式会社日立製作所

Dates

Publication Date
20260508
Application Date
20241022

Claims (15)

  1. A generating apparatus having a processor for executing a program and a storage device for storing the program, The storage device stores terrain data that models the terrain and has location information for each point in the terrain, first image data obtained by capturing a subject that is part of the terrain from a first imaging point on the terrain, and location information of the first imaging point. The aforementioned processor, A determination process that determines the destination location to which information of a specific pixel corresponding to the line of sight vector from the first imaging point to the subject is assigned, based on the direction of the line of sight vector from the first imaging point to the subject, A generation process that generates map data corresponding to the terrain by assigning the information of the specific pixel determined by the determination process to the assigned location, A generating device characterized by performing the following actions.
  2. The generating apparatus according to claim 1, The first image data is image data obtained by an imaging device of a moving body that moves on the ground surface constituting the terrain, capturing the subject from the side of the moving body. A generating apparatus characterized by the following features.
  3. A generating apparatus according to claim 1, In the aforementioned decision process, the processor decides whether or not to accept the assigned location based on the information of the specific pixel. A generating apparatus characterized by the following features.
  4. The generating apparatus according to claim 3, In the aforementioned decision process, the processor decides whether or not to accept the assigned location based on weather conditions. A generating apparatus characterized by the following features.
  5. The generating apparatus according to claim 4, In the aforementioned decision process, the processor deletes from the storage device any first image data in which the number of pixels not selected as the assigned location is greater than or equal to a predetermined number. A generating apparatus characterized by the following features.
  6. The generating apparatus according to claim 1, The aforementioned processor, Based on the light source spectrum, an acquisition process is performed to acquire information about the specific pixel. In the generation process, the processor generates the map data by assigning the information of the specific pixel acquired by the acquisition process to the assigned location. A generating apparatus characterized by the following features.
  7. The generating apparatus according to claim 6, The information of the specific pixel is the first luminance spectrum of light rays from the assigned point received by an imaging device of a moving object moving on the ground surface constituting the terrain, or the reflectance spectrum of the subject calculated based on the light source spectrum and the first luminance spectrum. A generating apparatus characterized by the following features.
  8. The generating apparatus according to claim 7, The first image data is image data generated by spectrally analyzing the light of the subject according to its wavelength. In the generation process, the processor generates the map data by converting the wavelength components of the first luminance spectrum or the reflectance spectrum into luminance values as information for the specific pixel. A generating apparatus characterized by the following features.
  9. The generating apparatus according to claim 8, In the acquisition process, the processor calculates the reflectance spectrum of the subject based on the light source spectrum, the first luminance spectrum, and the transmittance between the imaging device and the subject. A generating apparatus characterized by the following features.
  10. The generating apparatus according to claim 6, The storage device stores second image data obtained by capturing a reflector having a known reflectivity from a second imaging point on the terrain. In the acquisition process, the processor acquires the light source spectrum based on the known reflectance and the second luminance spectrum of the light rays from the reflector received by the imaging device. A generating apparatus characterized by the following features.
  11. The generating apparatus according to claim 6, In the acquisition process, the processor acquires the light source spectrum based on the weather conditions on the ground surface that constitute the terrain. A generating apparatus characterized by the following features.
  12. The generating apparatus according to claim 8, The storage device stores a plurality of first image data with different capture dates and times. In the generation process, the processor calculates the reflectance spectrum for each of the multiple first image data with different capture dates and times, calculates a representative reflectance spectrum based on the multiple reflectance spectra, and generates information for the specific pixel based on the brightness value and the representative reflectance spectrum. A generating apparatus characterized by the following features.
  13. The generating apparatus according to claim 8, In the generation process, the processor generates vegetation evaluation map data by selecting wavelengths related to vegetation evaluation for the assigned location. A generating apparatus characterized by the following features.
  14. A generation method performed by a generation apparatus having a processor for executing a program and a storage device for storing the program, The storage device stores terrain data that models the terrain and has location information for each point in the terrain, first image data obtained by capturing a subject that is part of the terrain from a first imaging point on the terrain, and location information of the first imaging point. The aforementioned processor, A determination process that determines the destination location to which information of a specific pixel corresponding to the line of sight vector from the first imaging point to the subject is assigned, based on the direction of the line of sight vector from the first imaging point to the subject, A generation process that generates map data corresponding to the terrain by assigning the information of the specific pixel determined by the determination process to the assigned location, A generation method characterized by performing the following.
  15. A processor that can access a storage device that stores: terrain data that models the terrain and has location information for each point in the terrain; first image data that captures a subject which is part of the terrain from a first imaging point on the terrain; and location information of the first imaging point. A determination process that determines the destination location to which information of a specific pixel corresponding to the line of sight vector from the first imaging point to the subject is assigned, based on the direction of the line of sight vector from the first imaging point to the subject, A generation process that generates map data corresponding to the terrain by assigning the information of the specific pixel determined by the determination process to the assigned location, A generation program characterized by causing the execution of a specific action.

Description

This invention relates to a data generation device, a data generation method, and a data generation program. Imaging the natural environment (downward) using satellites or drones is difficult under certain weather conditions, making frequent data acquisition challenging. As a means to compensate for this, or as a new approach, it is conceivable to generate maps representing the state of the natural environment, such as vegetation, using imaging devices installed on moving structures like railways. For example, Patent Document 1 discloses an overhead wire position measuring device that performs non-contact three-dimensional position measurement using an inspection vehicle for overhead wires other than trolley wires. This overhead wire position measuring device includes first and second three-dimensional measuring devices, first and second cameras, a region of interest setting unit that sets at least one region of interest based on angle data and distance data generated by each of the first and second three-dimensional measuring devices, an image processing unit that performs image processing to mask images outside the region of interest for each of the first and second image data generated by the first and second cameras, respectively, and stores the first and second image data in memory, an overhead wire extraction unit that extracts overhead wires that satisfy predetermined conditions from the two-dimensional images represented by each of the stored first and second image data, and an overhead wire position calculation unit that calculates the position of the overhead wire relative to a railway vehicle based on the coordinates of the overhead wire extracted by the overhead wire extraction unit. Furthermore, Patent Document 2 below discloses a method for estimating illumination spectra. This estimation method calculates illumination spectra based on weather information. Japanese Patent Publication No. 2014-169939International Publication WO2012/86658 Figure 1 is an explanatory diagram showing an example of map generation.Figure 2 is an explanatory diagram showing an example of the configuration of a map generation system.Figure 3 is a block diagram showing an example of a computer hardware configuration.Figure 4 is an explanatory diagram showing an example of the configuration of a mobile unit.Figure 5 is an explanatory diagram showing an example of planning information.Figure 6 is a flowchart showing an example of the procedure for estimating the self-position of a moving object.Figure 7 is an explanatory diagram showing the relationship between the world coordinate system and each variable.Figure 8 is an explanatory diagram showing the vehicle body tilt angle.Figure 9 is a block diagram showing an example of the functional configuration of the generating device.Figure 10 is a flowchart showing an example of the map data generation process procedure by the generation device.Figure 11 is an explanatory diagram showing an example of the decision-making process performed by the decision unit.Figure 12 is an explanatory diagram showing an example of imaging information.Figure 13 is an explanatory diagram showing an example of an input/output screen.Figure 14 is an explanatory diagram showing an example of a display screen displayed by the output unit. <Figure 1: Example of map generation> Figure 1 is an explanatory diagram showing an example of map generation. In Figure 1, the world coordinate system 100 is a coordinate system that defines the real world. The X, Y, and Z axes intersect at the origin O and are mutually orthogonal. The XY plane corresponds to an ideal Earth surface at altitude 0, and points on the XY plane are represented by the distance from the origin O corresponding to the latitude (hereinafter referred to as the Y distance) and the distance from the origin O corresponding to the longitude (hereinafter referred to as the X distance). The Z axis indicates the vertical direction. The actual Earth surface 101 has relief in the Z-axis direction relative to the XY plane. The moving object 102 moves along the track 103. In this example, the moving object 102 is a train, and the track 103 is a railway track. The moving object 102 has imaging devices on both sides. The optical axes of the imaging devices are perpendicular to the direction of travel of the moving object 102 and parallel to the XY plane. The imaging devices capture images at predetermined timings and generate a series of image data sequences 110. The image data sequence 110 may also be video data. The imaging device may also be a camera that generates image data by spectrally separating the light emitted by the subject into wavelengths and capturing the image, such as a multispectral camera or a hyperspectral camera. Map generation is a process that generates map data 112 by reconstructing terrain data 111 using the image data sequence 110 generated by the imaging device while the mobile object 102 is moving. The terrain data 111 is, f