US-20260129174-A1 - MOBILE OBJECT, CONTROL DEVICE, AND IMAGING METHOD

US20260129174A1US 20260129174 A1US20260129174 A1US 20260129174A1US-20260129174-A1

Abstract

A mobile object includes a mobile object main body, an imaging device that is included in the mobile object main body and that performs imaging of a target object, the imaging device including an image data acquisition device and a three-dimensional data acquisition device that are calibrated, and a control device that acquires, for the target object, unit image data in which image data acquired for each angle of view of the image data acquisition device and three-dimensional data acquired by the three-dimensional data acquisition device are associated with each other from the imaging device, performs plane estimation on an imaging target, based on the three-dimensional data, determines whether the imaging target is a plane, and in the case where it is determined that the imaging target is the plane, determines a first distance until next unit image data is acquired based on information on the plane.

Inventors

Masashi KURANOSHITA

Assignees

FUJIFILM CORPORATION

Dates

Publication Date: 20260507
Application Date: 20251230
Priority Date: 20191209

Claims (5)

1 . A control device for controlling an image data acquisition device that images two-dimensional image data of a target object using an imaging element based on a three-dimensional data of the target object, to generate a three-dimensional model of the target object, the control device comprising a processor configured to: determine whether the target object included in a single imaging range of two-dimensional image data imaged by the image data acquisition device, is planar based on the three-dimensional data; determine a moving distance until next two-dimensional image data is imaged as a first distance and an overlapping rate of the next two-dimensional image data imaged based on the first distance as a first overlap rate, in a case where it is determined that the target object is planer; and determine the moving distance until the next two-dimensional image data is imaged as a second distance and the overlapping rate of the next two-dimensional image data imaged based on the second distance as a second overlap rate, in a case where it is determined that the target object is non-planer, wherein the first distance is set longer than the second distance and the first overlapping rate is set smaller than the second overlapping rate, thereby reducing an amount of the two-dimensional image data acquired by the image data acquisition device in a case where it is determined that the target object is planar, and reducing processing load in generating the three-dimensional model using the two-dimensional image data.
2 . The control device according to claim 1 , wherein in the three-dimensional data, each point having position information in the three-dimensional data is associated with a pixel in the two-dimensional image data of the target object acquisition device.
3 . The control device according to claim 1 , the imaging range is determined based on an angle of view of the image data acquisition device.
4 . An imaging system comprising: a three-dimensional data acquisition device that includes any one of a stereo camera, a laser scanner and a time-of-flight camera, and is configured to acquire a three-dimensional data of a target object; a mobile object; an image data acquisition device that is provided in the mobile object, and configured to image two-dimensional image data of the target object using an imaging element based on the three-dimensional data; and the control device according to claim 1 , wherein the mobile object moves based on the moving distance to image the two-dimensional image data by the image data acquisition device.
5 . A control method for controlling an image data acquisition device that images two-dimensional image data of a target object using an imaging element based on a three-dimensional data of the target object, to generate a three-dimensional model of the target object, the control method comprising: determining whether the target object included in a single imaging range of two-dimensional image data imaged by the image data acquisition device, is planar based on the three-dimensional data; determining a moving distance until next two-dimensional image data is imaged as a first distance and an overlapping rate of the next two-dimensional image data imaged based on the first distance as a first overlap rate, in a case where it is determined that the target object is planer; and determining the moving distance until the next two-dimensional image data is imaged as a second distance and the overlapping rate of the next two-dimensional image data imaged based on the second distance as a second overlap rate, in a case where it is determined that the target object is non-planer, wherein the first distance is set longer than the second distance and the first overlapping rate is set smaller than the second overlapping rate, thereby reducing an amount of the two-dimensional image data acquired by the image data acquisition device in a case where it is determined that the target object is planar, and reducing processing load in generating the three-dimensional model using the two-dimensional image data.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. patent application Ser. No. 17/747,678, filed on May 18, 2022, which is a Continuation of PCT International Application No. PCT/JP2020/041641 filed on Nov. 9, 2020, which claims priority under 35 U.S.C § 119 (a) to Japanese Patent Application No. 2019-221839 filed on Dec. 9, 2019. Each of the above application(s) is hereby expressly incorporated by reference, in its entirety, into the present application. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile object, a control device, and an imaging method. 2. Description of the Related Art In recent years, techniques have been proposed in which a mobile object such as a drone is provided with a camera, which is used to acquire a captured image of a structure, and a three-dimensional model is generated from the acquired captured image. For example, JP2015-114954A proposes a technique for acquiring two-dimensional image data of a target object using a mobile object provided with a camera and generating a three-dimensional point group using SfM (Structure from Motion) to generate a three-dimensional model. SUMMARY OF THE INVENTION In SfM, a large amount of two-dimensional image data is acquired with imaging ranges overlapped with each other, and a self-position and the coordinates of a target object are estimated to generate a three-dimensional point group of the target object. This requires processing of a large amount of two-dimensional image data and may increase the processing time. The present invention has been made in view of such a situation, and an object thereof is to provide a mobile object, a control device, and an imaging method that can reduce image data. A mobile object of a first aspect includes a mobile object main body; an imaging device that is included in the mobile object main body and that performs imaging of a target object, the imaging device including an image data acquisition device and a three-dimensional data acquisition device that are calibrated; and a control device that acquires, for the target object, unit image data in which image data acquired for each angle of view of the image data acquisition device and three-dimensional data acquired by the three-dimensional data acquisition device are associated with each other from the imaging device, performs plane estimation on an imaging target, based on the three-dimensional data, determines whether the imaging target is a plane, and determines, in the case where it is determined that the imaging target is the plane, a first distance until next unit image data is acquired, based on information on the plane. According to the first aspect, image data can be reduced. In a mobile object of a second aspect, in the case where it is determined that the imaging target is not the plane, the control device determines a second distance shorter than the first distance as a distance until next unit image data is acquired. According to the second aspect, since the second distance is shorter than the first distance, image data can effectively be reduced. In a mobile object of a third aspect, the imaging device simultaneously acquires the image data and the three-dimensional data. According to the third aspect, acquisition of the image data and the three-dimensional data is facilitated. In a mobile object of a fourth aspect, the three-dimensional data acquisition device includes one of a stereo camera, a laser scanner, or a time-of-flight camera. The fourth aspect identifies a preferred three-dimensional data acquisition device. In a mobile object of a fifth aspect, the image data is two-dimensional color image data. The fifth aspect identifies a preferred type of image data. In a mobile object of a sixth aspect, the mobile object main body including the imaging device and the control device is an unmanned aerial vehicle. According to the sixth aspect, imaging of the target object is facilitated. A control device of a seventh aspect is a control device that is included in a mobile object main body and that controls an imaging device, the imaging device performing imaging of a target object and including an image data acquisition device and a three-dimensional data acquisition device that are calibrated. The control device acquires, for the target object, unit image data in which image data acquired for each angle of view of the image data acquisition device and three-dimensional data acquired by the three-dimensional data acquisition device are associated with each other from the imaging device, performs plane estimation on an imaging target, based on the three-dimensional data, determines whether the imaging target is a plane, and determines, in the case where it is determined that the imaging target is the plane, a first distance until next unit image data is acquired, based on information on the plane. According to the seventh aspect, image data can be reduced. In a contro