JP5517977B2 - Video shooting position specifying device and video display system using the same - Google Patents

Description

  The present invention relates to a video shooting position specifying device capable of specifying a shooting position of a video shot by a camera mounted on an aircraft, and a video display system using the same.

A system that integrates and manages images taken with an aircraft and map information and refers to them as needed is used for the purpose of, for example, regional development plan support and disaster countermeasure plan planning support.
Helicopters owned by the National Police Agency and the Fire Department are equipped with cameras, and an integrated video / map information system has been built for disaster prevention, accidents, and disaster countermeasures.
For example, in Patent Document 1, the position of a photographed image of the ground surface photographed in the air is three-dimensionally specified, the photographing range of the photographed ground surface is calculated and obtained, and the photographed video is matched to the photographing position. Describes a system that transforms and overlays on a map.
These are called heli-telesystems. The video shot during the helicopter flight is stored in the ground side equipment in synchronization with the shooting position coordinates and has a function of referring to it later.

W02004 / 113836 (pages 5-6, FIG. 1)

In the conventional helicopter system as described above, when referring to the video and the shooting position information accumulated in the past, the key to search is mainly using the shooting date and time. If you wanted to see a flight that shot a certain area, you could only search using a different ledger or rely on comments entered by the person in charge for the stored video.
Thus, conventionally, there has been a problem that past photographed images cannot be searched using the photographing point as a key.
Moreover, in the thing of patent document 1, it calculates and calculates | requires the imaging | photography range of the image | photographed ground surface, deform | transforms a picked-up image according to the shooting position, and displays it on a map, Therefore, it is not possible to specify the shooting position where the shot was taken, and for this reason, it was not possible to search for a shot image using the specified shooting position as a key.

  The present invention has been made in order to solve the above-described problems, and is a video shooting position specifying device that specifies a shooting position that has been preferentially shot based on shooting position information of a video shot during flight of an aircraft. And an image display system using the same.

In the video shooting position specifying device according to the present invention, a shooting position database storing a plurality of latitude / longitude information indicating shooting points of a video shot by a camera mounted on an aircraft, a predetermined area is divided into meshes in advance. By referring to the created mesh table and shooting position database, the shooting position data classification means for registering the latitude and longitude information of each video in the corresponding mesh of the mesh table according to the coordinate position, and this shooting position data classification means Representative point specifying means for analyzing the mesh table in which the latitude / longitude information of the video is registered, and specifying the coordinates of the mesh having a larger number of registrations of the latitude / longitude information of the video than the surrounding meshes as the coordinates of the representative point that is the priority photographing position It is provided.

As described above, the present invention is created by dividing a predetermined area into meshes in advance, a shooting position database storing a plurality of latitude and longitude information indicating shooting points of images shot by a camera mounted on an aircraft. Referring to the mesh table and the shooting position database, the shooting position data classifying means for registering the latitude / longitude information of each video in the corresponding mesh of the mesh table according to the coordinate position, and the shooting position data classifying means There is a representative point specifying means that analyzes the mesh table in which the latitude and longitude information is registered, and specifies the coordinates of the mesh that has a larger number of registered latitude and longitude information of the video than the surrounding mesh as the coordinates of the representative point that is the priority shooting position. So, it can be used to search for video information accumulated in the past using the representative point as a key and you want to refer to it. The extraction of the image can be facilitated.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the image | video imaging position specification apparatus by Embodiment 1 of this invention. It is a figure which shows the example of the mesh table in the image | video imaging position specific device by Embodiment 1 of this invention. It is a figure for demonstrating the representative point calculation function in the image | video imaging position specific device by Embodiment 1 of this invention. It is a figure which shows the example of the representative point extraction result of the representative point calculation function in the video imaging position specifying device according to Embodiment 1 of the present invention. It is a figure which shows the example of the list | wrist of a representative point which is a processing result of the representative point calculation function in the video imaging position specifying device according to Embodiment 1 of the present invention. It is a block diagram which shows the image | video imaging position specification apparatus by Embodiment 2 of this invention. It is a figure which shows the specific example of the representative point narrowing-down function of the imaging | video imaging location specification apparatus by Embodiment 2 of this invention. It is a block diagram which shows the imaging | video imaging location specification apparatus by Embodiment 3 of this invention. It is a block diagram which shows the image | video display system which mounted the image | video imaging position specification apparatus by Embodiment 4 and Embodiment 5 of this invention.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a video shooting position specifying device according to Embodiment 1 of the present invention.
In FIG. 1, a video shooting position specifying device 10 is configured as follows by a computer having a storage device.
The shooting position data list database 1 (shooting position database) is obtained by calculating shooting position information at the time of shooting with an aircraft every second and storing it in time series, and is formed in a storage device. The mesh table 3 is a table for dividing the shooting area into small ranges (mesh) and counting up which mesh contains shooting position information per second of a certain video, and is stored in a storage device. The mesh division can be changed depending on the size and use of the shooting area.
The shooting position data classification function 2 (shooting position data classification means) creates the mesh table 3 prior to processing from information on the shooting range of the flight to be processed.
The representative point calculation function 4 (representative point specifying means) extracts a plurality of representative points from the mesh table 3 created by the photographing position data classification function 2. The representative photographing point data 5 is stored in a storage device, and a list of representative photographing points extracted by the representative point calculating function 4 is registered. The representative point information registered in the photographing representative point data 5 is the important photographing position of the flight.

FIG. 2 is a diagram showing an example of a mesh table in the video photographing position specifying device according to Embodiment 1 of the present invention.
In FIG. 2, the mesh table 3 is a table for dividing the shooting area into small ranges (mesh) and counting up which mesh includes shooting position information per second of a video. It has latitude and longitude coordinates. In the figure, both latitude and longitude are separated as a unit of 0.01 degrees. The initial value of each mesh is 0.

FIG. 3 is a diagram for explaining a representative point calculation function in the video shooting position specifying device according to the first embodiment of the present invention.
In FIG. 3, the mesh table 3 is processed by the representative point calculation function 4 to create a mesh table 31 having the extracted representative points.

FIG. 4 is a diagram showing an example of the representative point extraction result of the representative point calculation function in the video shooting position specifying device according to Embodiment 1 of the present invention.
FIG. 4 shows an example of a mesh table 31 having representative points extracted by the processing of the representative point calculation function 4.

FIG. 5 is a diagram showing an example of a list of representative points, which is a processing result of the representative point calculation function in the video shooting position specifying device according to the first embodiment of the present invention.
FIG. 5 is a list of representative points registered in the photographing representative point data 5, and each representative point has information on important photographing positions.

Next, the operation will be described.
The shooting position information at the time of shooting with an aircraft is composed of latitude and longitude coordinate values of the shooting position. The shooting position latitude / longitude information is calculated by a helicopter-mounted GPS device, an angle parameter of a camera, or the like. This calculation method is described in Patent Document 1, for example. This calculation is generally performed in seconds, and a coordinate value for each second is calculated. The shooting position information at the time of shooting with an aircraft is stored in the shooting position data list database 1 in a time series of the shooting position information per second.

The mesh table 3 is a table for dividing the shooting area into small ranges (mesh) and counting which mesh includes shooting position information per second of a certain video. It can be changed according to the size and application.
The mesh table 3 is created by the shooting position data classification function 2 prior to processing from information on the shooting range of the flight to be processed. FIG. 2 shows an example of the mesh table 3 created as described above. Here, both latitude and longitude are divided as a mesh of 0.01 degree unit. The initial value of each mesh is 0.

Next, the shooting position data classification function 2 will be described.
The shooting position data classification function 2 reads the shooting position data of the shooting position data list database 1 one by one along the time series, and in accordance with the latitude / longitude coordinate value, the mesh containing the coordinate value in the mesh table 3. 1 is added to the value of.
FIG. 2 shows an example of the mesh table 3 calculated from all shooting position data during the flight.

Next, the representative point calculation function 4 will be described.
The representative point calculation function 4 extracts a plurality of representative points from the mesh table 3 created by the photographing position data classification function 2 by the following means.
(1) A mesh table 31 that is the same as the mesh table 3 created by the shooting position data classification function 2 is prepared inside the representative point calculation function 4.
(2) The following processing is performed for each mesh value in the mesh table 3.
(A) If the value of the mesh is 0, 0 is substituted into the same position in the mesh table 31.
(A) When the value of the mesh is 1 or more and the value of the mesh is larger than the values of all the adjacent meshes in the eight directions, the value is substituted into the same position in the mesh table 31.
(C) If none of the above applies, 0 is substituted into the same position of the mesh table 31.

An example of the mesh table 31 obtained by this processing is shown in FIG.
As shown in FIG. 4, meshes in which one or more values are substituted in the mesh table 31 are arranged in descending order of the values, and the coordinate information of the latitude and longitude is used as an important photographing representative point.
The list of photographing representative points is registered in the photographing representative point data 5. The representative point information registered in the photographing representative point data 5 is an important photographing position of this flight. FIG. 5 shows an example of important photographing position information registered in the photographing representative point data 5.

By only calculating the mesh value of the mesh table 3 by the shooting position data classification function 2, when shooting in a certain area is concentrated (in FIG. 2, the latitude is 35.65 ° to 35.66 °, the longitude is 139.48 ° to 139). .About 52 degrees), when affected by the mesh value there and determined to be the photographing representative point in descending order of the value, another region (latitudes 35.59 to 35.60 degrees in FIG. 2 and longitude 139) It is difficult to extract as a photographing point.
In fact, when arranged in descending order based on the mesh values shown in FIG. 2, all of the upper ranks are meshes in the vicinity of latitudes 35.65 degrees to 35.66 degrees, longitudes 139.48 degrees to 139.52 degrees, In some cases, it is not possible to pick up a shooting point in the vicinity of latitudes 35.59 to 35.60 degrees and longitudes 139.41 to 139.43 degrees.

Even in such a case, the representative point calculation function 4 has a role of making another shooting area stand out. If there are a plurality of important shooting points in one flight, they are picked up without omission. Have an effect.
By using the information of the important photographing points in the photographing representative point data 5, it is possible to search and extract flight information (including video) that focuses on the photographing region, which has been a conventional problem.

  According to the first embodiment, even when there are a plurality of important shooting points in one flight, it can be picked up without omission, and search and extraction of flight information (including video) focusing on the shooting area can be performed. It becomes possible.

Embodiment 2. FIG.
Embodiment 2 of the present invention will be described with reference to the drawings.
FIG. 6 is a block diagram showing a video shooting position specifying device according to Embodiment 2 of the present invention.
In FIG. 6, reference numerals 1 to 5 are the same as those in FIG. In FIG. 6, a representative point narrowing function 41 (representative point correcting means) for narrowing down the representative points extracted by the representative point calculating function 4 is provided. As a result of processing of the representative point narrowing function 41, representative point data 51 after narrowing down Is formed in the storage device.

FIG. 7 is a diagram showing a specific example of the representative point narrowing function of the video shooting position specifying device according to Embodiment 2 of the present invention.
In FIG. 7, the mesh group 60 is a mesh group of a certain representative point 61 registered in the photographing representative point data 5. A representative point 62 indicates a representative point of the mesh group 60 narrowed down by the representative point narrowing function 41.

Next, the operation will be described.
The second embodiment is implemented as a post process of the first embodiment.
The representative point narrowing function 41 performs the following process to create a mesh group centered on each representative point.
(1) The following processing is performed for all meshes having a value of 1 or more in the mesh table 3.
(A) The distances from the positions of all the representative points stored in the imaging representative point data 5 are obtained.
(A) Assign the mesh to a group centered on a representative point having the smallest distance.
(C) If there are a plurality of representative points having the same distance, it is assumed that they are included in a group of a plurality of representative points at the same rate.

(2) A mesh group centered on each representative point can be created by the processing of (1) above. The following processing is performed for each mesh group.
(A) Calculate the latitude and longitude of the center of gravity of the mesh group from the latitude and longitude of each mesh in the mesh group and the value of the mesh. The calculation formula is as follows.

Here, x _i , y _i , and M _i indicate the latitude, longitude, and value of the mesh i, respectively.
This (P _x , P _y ) is used as the center of gravity of the mesh group, and a newly narrowed representative point.
The position of the representative point narrowed down by the above processing is registered in the representative point data 51 after narrowing down.

By realizing the representative point narrowing function 41, it is possible to correct a situation in which the shooting position shifts to the periphery centering on the position where the shooting is really desired due to vibration of the aircraft or camera operation blur.
FIG. 7 shows the effect. By considering the mesh value in the mesh group 60 of a certain representative point 61 registered in the imaging representative point data 5 and its position, the coordinate value of the representative point 62 with higher accuracy can be calculated.

  According to the second embodiment, each representative point of the photographing representative point data can be made a more accurate representative point, and the photographing position is centered on the position where the photographing is really desired due to the vibration of the aircraft or camera shake. It is possible to correct the situation where the gap is around.

Embodiment 3 FIG.
Next, Embodiment 3 will be described with reference to the drawings.
FIG. 8 is a block diagram showing a video shooting position specifying device according to Embodiment 3 of the present invention.
In FIG. 8, 1 to 5 are the same as those in FIG. In FIG. 8, an address calculation function 42 (address calculation means) for calculating the address of the representative point is provided, and the representative point address calculated by the address calculation function 42 is stored in the representative point address 52. The representative point address 52 is stored in the storage device.

Next, the operation will be described.
In the first embodiment or the second embodiment, the list of representative points is calculated as the latitude and longitude coordinates. In the third embodiment, an address calculation function 42 is provided thereafter.
The address calculation function 42 performs the following processing.
(1) All addresses in the representative point list registered in the representative point data 5 in the first embodiment and in the representative point data 51 after narrowing down in the second embodiment are calculated.
(2) Some representative points are actually adjacent and calculated as the same address as the first and second representative points in FIG. If such an address is calculated, it is considered as one and integrated.
The address information extracted as a result of the processes (1) and (2) is registered in the representative point address 52.

  According to the third embodiment, by providing an address calculation function, it is possible to search and extract a flight based on an address for a user who has been referred only by latitude and longitude, and to improve ease of reference. .

Embodiment 4 FIG.
Next, Embodiment 4 will be described with reference to the drawings.
FIG. 9 is a block diagram showing a video display system in which a video shooting position specifying device according to Embodiment 4 of the present invention is mounted.
In FIG. 9, the video display system includes a video device 101, a storage device 100, and a display device 110.
The video apparatus 101 is mounted with the video shooting position specifying apparatus according to the first embodiment, the second embodiment, or the third embodiment. The storage device 100 is connected to the video device 101 and stores video information for each flight, shooting position information synchronized therewith, and important shooting point information detected in the first to third embodiments. The display device 110 displays an image based on information from the video device 101.
The display device 110 displays a map display screen 113 that displays map information, and a stored video list 111 that displays a list of flights of video stored in the storage device 100. The display device 110 is connected to a pointing device 115 for pointing the display on the screen.

When the user selects one flight information 112 from the stored video list 111 displayed on the display device 110 by using the pointing device 115, the important photographing position 114 is displayed on the map display screen 113.
By confirming the display of the important photographing position 114, it is possible to confirm on the screen that the flight is necessary.

  According to the fourth embodiment, when a flight is selected, the important photographing position of the flight is displayed on the map display screen, so that the flight can be confirmed on the screen.

Embodiment 5 FIG.
Next, Embodiment 5 will be described with reference to FIG.
When the user activates the video display system, a plurality of important photographing positions 114 and 116 of a plurality of flight information accumulated in the storage device 100 are displayed on the map display screen 113.
The user can refer to flight information (including video) photographing the area by selecting the important photographing position 114 or the important photographing position 116 by using the pointing device 115.

  According to the fifth embodiment, it is possible to refer to flight information obtained by photographing the area from the important photographing position displayed on the map display screen.

DESCRIPTION OF SYMBOLS 1 Shooting position data list database 2 Shooting position data classification function 3 Mesh table 4 Representative point calculation function 5 Shooting representative point data 10 Video shooting position specifying device 31 Mesh table 41 Representative point narrowing function 51 Refining representative point data 42 Address calculation function 52 Representative point address 60 Mesh group 61 Representative point 62 Representative point 100 Storage device 101 Video device 110 Display device 111 Accumulated video list 112 Flight information 113 Map display screen 114 Important shooting position 115 Pointing device 116 Important shooting position

Claims (5)

A shooting position database in which a plurality of latitude and longitude information indicating the shooting points of images shot by a camera mounted on an aircraft are stored ,
A mesh table created by dividing a predetermined area into meshes in advance,
With reference to the shooting position database, shooting position data classification means for registering the latitude and longitude information of each video in the corresponding mesh of the mesh table according to the coordinate position;
And the mesh table in which the latitude / longitude information of the video is registered by the shooting position data classifying means, and the coordinates of the mesh having the registered number of the latitude / longitude information of the video are larger than the surrounding meshes as representative focus shooting positions. A video shooting position specifying device comprising a representative point specifying means for specifying the coordinates of a point.   For the representative point specified by the representative point specifying means, a mesh group centered on the representative point is formed in the mesh table, and the center of gravity in the formed mesh group is used as the registration status of the latitude and longitude information of the video. 2. The video shooting position specifying device according to claim 1, further comprising: a representative point correcting unit that calculates the position of the representative point based on the calculation result based on the calculation result.   3. The video shooting position specifying device according to claim 1, further comprising address calculating means for calculating an address of the representative point specified by the representative point specifying means. The video shooting position specifying device according to any one of claims 1 to 3,
A storage device that stores images shot by a camera mounted on an aircraft for each flight,
And a display device for displaying a map screen and a list of videos for each flight stored in the storage device,
The display device displays the representative point of the selected flight on the map screen when one of the lists of videos for each flight is selected.   When the display device is started up, a plurality of representative points of a plurality of flights are displayed on the map screen, and one of the displayed representative points is selected, so that a flight that captured the selected representative point is displayed. The video display system according to claim 4, which is referred to.

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