JP2004069442A - Device, method, and program for acquiring landscape information, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of acquiring landscape information by which landscape information can be acquired even when the moving speed of a mobile object moving on the ground abruptly changes. <P>SOLUTION: A landscape information acquiring device is provided with a rotary encoder, a GPS, and a line sensor camera. The device acquires line images photographed by means of the line sensor camera at every prescribed moving distance of the mobile object based on a pulse signal outputted from the rotary encoder, and generates a long image by synthesizing the line images in the moving direction of the mobile object. In addition, the device acquires the positional information on the mobile object at prescribed time intervals and, at the same time, finds the number of pulses outputted from the rotary encoder within each prescribed time interval. Then the device finds the positional information corresponding to each pulse signal outputted from the rotary encoder by performing interpolation by using the positional information on the mobile object and the total number of the pulses, and outputs the landscape information by adding the positional information to the long image. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a landscape information acquisition device, a landscape information acquisition method, a landscape information acquisition program, and a recording medium. In particular, the present invention relates to a landscape sensor using a line sensor camera and GPS mounted on a moving vehicle, and a posture measurement device and a distance measurement device. The present invention relates to a landscape information acquisition device, a landscape information acquisition method, a landscape information acquisition program, and a recording medium for acquiring information (image, position information, posture information, and distance information).
[0002]
[Prior art]
Conventionally, a landscape information acquisition method using a line sensor camera is disclosed in, for example, Japanese Patent Application Laid-Open No. H10-153426 (hereinafter referred to as Document (a)) and Japanese Patent Application Laid-Open No. H07-170443 (hereinafter referred to as Document (B)). ), A method of photographing the ground from the sky, or, for example, as described in Japanese Patent Application No. 2000-203204 (hereinafter referred to as reference (c)), mounted on a moving vehicle. 2. Description of the Related Art There is known a method of photographing a landscape seen from the side of a moving vehicle.
In literature (a) and literature (b), the terrain is photographed in synchronization with GPS (Global Positioning Systems) and gyros.
In the literature (C), the landscape is photographed in synchronization with the rotary encoder.
[0003]
[Problems to be solved by the invention]
When considering the acquisition of landscape information using a line sensor camera installed on the side of a moving object moving on the ground, in the method described in the literature (a) or the literature (b), acquisition of GPS or gyro is performed. It is assumed that the moving speed is constant at intervals. Therefore, in consideration of use in a moving vehicle, it is difficult to keep the moving speed constant due to obstacles, signals, and the like, so that there is a problem that this method cannot be applied.
Further, according to the method described in the document (c), it is possible to take an image at regular intervals using a rotary encoder without depending on the speed of the moving vehicle.
However, it is premised that the trajectory of the moving vehicle is a straight line or an ellipse, and there is a problem that it cannot correspond to an arbitrary trajectory of the moving vehicle.
Further, since the synchronization standard is time in the method described in the document (a) or (b) and distance in the method described in the document (c), the above methods cannot be simply combined. .
[0004]
The present invention has been made in order to solve the problems of the above-mentioned conventional technology, and an object of the present invention is to provide a case in which the speed of a moving object moving on the ground changes abruptly, or move an arbitrary trajectory. Even in such a case, it is an object of the present invention to provide a landscape information acquisition device and a landscape information acquisition method capable of acquiring landscape information.
Another object of the present invention is to provide a landscape information acquisition program for causing a computer to execute the above-described landscape information acquisition method.
Another object of the present invention is to provide a recording medium on which the above-described landscape information acquisition program is recorded.
The above and other objects and novel features of the present invention will become apparent from the description of the present specification and the accompanying drawings.
[0005]
[Means for Solving the Problems]
The following is a brief description of an outline of typical inventions disclosed in the present application.
The present invention provides a landscape information acquisition device and a landscape information acquisition method that are equipped with a rotary encoder and a GPS, and that acquire landscape information using a line sensor camera installed on a moving object that moves on the ground. Based on the output pulse signal, obtain a line image captured by a line sensor camera at predetermined intervals of the moving distance of the moving object, synthesize this line image in the moving direction to create a long image, Based on the output signal from the GPS, the absolute position coordinate information of the moving object is obtained at predetermined time intervals, and the total number of pulse signals output from the rotary encoder within the predetermined time interval is obtained. Absolute position coordinates corresponding to each pulse signal output from the rotary encoder by interpolation using position coordinate information and the total number of pulses Seeking broadcasting, the absolute position coordinate information corresponding to each pulse signal output from the rotary encoder, and outputs the landscape information in addition to the aforementioned long image.
[0006]
Further, in the present invention, the moving object is equipped with a posture measuring device, and based on an output signal from the posture measuring device, acquires the posture information of the line sensor camera at each of the above-described predetermined time intervals. The position information of the line sensor camera corresponding to each pulse signal output from the rotary encoder is obtained by interpolation using the position information of the line sensor camera and the total number of pulses, and each pulse signal output from the rotary encoder is obtained. Is also added to the long image and output together with the attitude information of the line sensor camera corresponding to.
In the present invention, the moving object is provided with a distance measuring device, and acquires distance information from the line sensor camera to the photographing object at predetermined time intervals based on an output signal from the distance measuring device. The distance information from the line sensor camera to the imaging object corresponding to each pulse signal output from the rotary encoder is obtained by interpolation using the distance information from the line sensor camera to the imaging object and the total number of pulses. In addition, the distance information from the line sensor camera corresponding to each pulse signal output from the rotary encoder to the object to be photographed is added to the long image and output.
[0007]
Further, the present invention is a landscape information acquisition program for causing a computer to execute the above-described landscape information acquisition method.
Further, the present invention is a recording medium on which the above-mentioned landscape information acquisition program is recorded.
According to the present invention, by synchronizing information from the rotary encoder and the GPS, even when the speed of a moving object changes, the shooting position of each line of a long image shot at a predetermined moving distance interval is correctly obtained. Will be able to do it.
Therefore, a 3D map can be automatically created using a long image that can be obtained from the distance measurement device and the line sensor camera.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In all the drawings for describing the embodiments, components having the same function are denoted by the same reference numerals, and repeated description thereof will be omitted.
FIG. 1 is a block diagram illustrating a schematic configuration of a landscape information acquisition device according to an embodiment of the present invention.
The landscape information obtaining apparatus 100 according to the present embodiment includes an image obtaining unit 101, a long image synthesizing unit 102, a position / posture / distance information adding unit (hereinafter, referred to as a unit, adding unit) 103 to a long image. An absolute position coordinate value / posture value / distance value calculating means (hereinafter, referred to as a unit, calculating means) 104 for an output pulse, an output pulse number obtaining means 105, an absolute position coordinate obtaining means 106, and an attitude value obtaining means 107; , A distance value acquisition unit 108, an image accumulation unit 109, and a measurement value accumulation unit 110.
Further, a line sensor camera 111, a distance measuring device (laser distance meter) 112, an attitude measuring device (gyro) 113, a GPS 114, and a rotary encoder 115 are connected to the landscape information acquiring device 100.
[0009]
FIG. 2 is a diagram illustrating an example of a measurement system of the landscape information acquisition device according to the present embodiment.
In the figure, the moving object on which the measuring device is installed is the moving vehicle 201 while moving on the ground, and the line sensor camera 203 is used to photograph the road shoulder direction while moving in the moving direction 202.
At this time, the line sensor camera 203 captures a line image in synchronization with a pulse signal output from the rotary encoder 204 at regular intervals. This line image is obtained by the image obtaining unit 101.
Information from the GPS 205, the attitude measuring device (gyro) 206, and the distance measuring device (laser distance meter) 207 is acquired in synchronization with the time obtained from the GPS 205.
The absolute coordinate position information from the GPS 205 is acquired by the absolute position coordinate acquisition unit 106, the posture value information from the posture measurement device (gyro) 206 is acquired by the posture value acquisition unit 107, and the distance measurement device 207 Is acquired by the distance value acquiring means 108, and the respective information is input to the calculating means 104 and transferred to the measured value accumulating means 110.
Here, the attitude measuring device 206 is, for example, a gyro, and the distance measuring device 207 is, for example, a laser distance meter.
[0010]
FIG. 3 is a flowchart illustrating a processing procedure of the landscape information acquisition device according to the present embodiment.
Hereinafter, the landscape information acquisition method of the present embodiment will be described with reference to the flowchart of FIG.
First, line images are acquired from the line sensor camera 308 at a predetermined moving distance interval of the moving vehicle, and are synthesized in the moving direction (step 301).
In this step, the moving vehicle 201 acquires a line image from the line sensor camera 308 in synchronization with the rotary encoder 307 that outputs a pulse signal every time the vehicle travels a predetermined distance.
That is, based on the pulse signal output from the rotary encoder 307, the image acquisition unit 101 acquires a line image captured by the line sensor camera 308 at every predetermined moving distance interval of the moving vehicle.
Next, the long image combining means 102 combines the acquired line images in the moving direction to create a long image.
FIG. 4 is a diagram illustrating an example of a long image obtained by combining line images in the moving direction 202 by the long image combining unit 109 illustrated in FIG.
In FIG. 4, reference numeral 401 denotes a photographing line, and 402 denotes a moving direction. Since the moving direction 402 in FIG. 4 is at a fixed distance interval, parallel projection is performed, which is proportional to the real world. This long image is stored in the image storage unit 109.
[0011]
Next, the pulse signal output from the rotary encoder 307 and acquired by the output pulse number acquiring means 105 within the fixed time is measured at regular time intervals using the counter in the calculating means 104 (step 302). .
FIG. 5 is a diagram showing a temporal change in the counter value with respect to the position information acquisition cycle in the present embodiment. In FIG. 5, 501 is the position information acquisition cycle, 502 is time TA, 503 is time TB, and 504 is 504. Counter values C and 505 are a time axis, 506 is a counter value axis, and 507 is a trigger axis.
Since the GPS 309 can receive the standard time from the satellite, the GPS 309 can acquire position (absolute position coordinate) information at regular time intervals based on the standard time.
This cycle is defined as a position information acquisition cycle 501, and the trigger output time is defined as time TA (502) and time TB (503).
Each time the counter receives a trigger for the position information acquisition cycle from the GPS 309, the counter outputs the counter value at that time and resets the counter value.
For example, the counting of the pulse signal output from the rotary encoder 307 is started at time TA (502), the counter value C (504) is output at time TB (503), and the counter is reset.
At this reset timing, the counter value C (504) is transferred to the measured value storage unit 110.
[0012]
Next, position coordinates for each pulse signal output from the rotary encoder 307 are calculated based on the previous position coordinate value, the current position coordinate value, and the number of pulses (step 303).
First, at the timing of resetting the counter value, a position coordinate value is acquired from the GPS 309 via the absolute position coordinate acquisition means 106.
Assuming that the position coordinate value at the time TA (502) is GA, the position coordinate value at the time TB (503) is GB, and the counter value C (504), for example, in the pulse signal output from the rotary encoder 307, the time TA The position coordinate value Gi corresponding to the i-th pulse signal from (502) can be obtained by the following equation (1) by interpolation.
(Equation 1)
Gi = i × (GB−GA) / C + GA (1)
In the above equation (1), the position coordinates are linearly interpolated. However, interpolation is performed by weighting each i according to the change of the counter value from time TA (502) to time TB (503). It does not matter.
[0013]
Next, an attitude value for each pulse signal output from the rotary encoder 307 is calculated based on the previous attitude value, the current attitude value, and the number of pulses (step 304).
First, at the timing of resetting the counter value, the posture value is acquired from the posture measurement device (gyro) 310 via the posture value acquisition means 107.
Assuming that the attitude value at time TA (502) is RA, the attitude value at time TB (503) is RB, and the counter value C (504), for example, in the pulse signal output from the rotary encoder 307, the time TA (502) ), The posture value Ri corresponding to the i-th pulse signal can be obtained by the following equation (2) by interpolation.
(Equation 2)
Ri = i × (RB−RA) / C + RA (2)
In the above equation (2), the attitude value is linearly interpolated. However, interpolation is performed by weighting each i according to the change state of the counter value from time TA (502) to time TB (503). No problem.
[0014]
Next, a distance value for each pulse signal output from the rotary encoder 307 is calculated based on the previous distance value, the current distance value, and the number of pulses (step 305).
First, at the timing of resetting the counter value, a distance value is acquired from the distance measuring device (laser distance meter) 311 via the distance value acquiring means 108.
Assuming that the distance value at time TA (502) is DA, the distance value at time TB (503) is DB, and the counter value C (504), for example, in the pulse signal output from the rotary encoder 307, from the time TA to i The distance value Di corresponding to the th pulse signal can be obtained by the following equation (3) by interpolation.
[Equation 3]
Di = i × (DB−DA) / C + DA (3)
In the above equation (3), the distance value is linearly interpolated. However, interpolation is performed by weighting each i according to the change state of the counter value from time TA (502) to time TB (503). It does not matter.
[0015]
Next, position / posture / distance information is added to each line image of the long image (step 306).
FIG. 6 is a diagram showing an example of position / posture / distance information synchronized with the long image by the adding unit 103 shown in FIG. 1. In FIG. 6, reference numeral 601 denotes a long image, and 602 denotes a position (absolute position coordinates). ) Information, 603 indicates camera posture (rotation around a vertical axis) information, 604 indicates distance information, and 605 indicates a three-dimensional map.
Only the long image 601 and the distance information 604 can create only a three-dimensional model with a relative distance from the moving vehicle 201, so that the moving vehicle 201 can only move linearly.
However, by adding the camera posture information 603 and the position information 602, a three-dimensional model as indicated by 605 can be created.
Here, since the moving direction of the long image 601 is a parallel projection and can represent the real world, the three-dimensional model can be treated as a map.
[0016]
In the above description, each time the counter receives the trigger of the position information acquisition cycle from the GPS 309, the counter outputs the counter value at that time and resets the counter value. The present invention is not limited to this. The counter always counts up, and every time a trigger of the position information acquisition cycle is received from the GPS 309, a count value (for example, K1) is read. The count value (for example, K2) read by the trigger may be subtracted to obtain the total number of pulses C (= K1−K2). Further, in the above description, the case where a laser distance meter is used as the distance information acquisition method has been described, but the present invention is not limited to this, and other active sensors such as an infrared sensor and an ultrasonic sensor and Alternatively, the distance information may be obtained using stereo vision using two line sensors.
Also, a case has been described in which a gyro is used to determine the attitude information of the line sensor camera. However, the present invention is not limited to this, and another apparatus that can determine the attitude of the camera such as another acceleration sensor is used. It does not matter.
Further, a computer can be used as the landscape information acquisition device 100 of the present embodiment. In this case, the landscape information acquisition method of the present embodiment uses the landscape information stored in a hard disk or the like in the computer. The acquisition program is performed by a computer executing the acquisition program. This program is supplied by CD-ROM or by downloading via a network.
As described above, the invention made by the inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and can be variously modified without departing from the gist of the invention. Needless to say,
[0017]
【The invention's effect】
The following is a brief description of an effect obtained by a representative one of the inventions disclosed in the present application.
According to the present invention, position / posture / distance information can be added to a long image of parallel projection obtained using a line sensor camera, and a 3D map can be created.
Also, compared to a method of creating a 3D map from the sky, it is possible to acquire landscape information at any time without being affected by weather such as cloudy or rainy days where the ground cannot be observed from the sky.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a schematic configuration of a landscape information acquisition device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of a measurement system of the landscape information acquisition device according to the embodiment of the present invention.
FIG. 3 is a flowchart showing a processing procedure of the landscape information acquisition device according to the embodiment of the present invention.
FIG. 4 is a diagram showing an example of a long image obtained by combining line images in a moving direction 202 by the long image combining means shown in FIG. 1;
FIG. 5 is a diagram showing a temporal change of a counter value with respect to a position information acquisition cycle in the embodiment of the present invention.
FIG. 6 is a diagram illustrating an example of position / posture / distance information synchronized with a long image by the adding unit illustrated in FIG. 1;
[Explanation of symbols]
100: landscape information acquisition device, 101: image acquisition means, 102: long image synthesis means, 103: position / posture / distance information addition means to long images, 104: absolute position coordinate values / posture values for output pulses Distance value calculating means, 105: output pulse number obtaining means, 106: absolute position coordinate obtaining means, 107: attitude value obtaining means, 108: distance value obtaining means, 109: image storage means, 110: measurement value storage means, 111, 203, 308: Line sensor cameras, 112, 207, 311: Distance measuring devices (laser distance meters), 113, 206, 310: Attitude measuring devices (gyros), 114, 205, 309: GPS, 115, 204, 307 ... Rotary encoder, 201: moving vehicle, 202, 402: moving direction, 401: photographing line, 501: position information acquisition cycle, 502 Time TA, 503 Time TB, 504 Counter value C, 505 Time axis, 506 Counter value axis, 507 Trigger axis, 601 Long image, 602 Position (absolute position coordinate) information, 603 Camera Attitude (rotation about the vertical axis) information, 604 ... distance information, 605 ... 3D map.

Claims (15)

A landscape information acquisition device equipped with a rotary encoder and a GPS, which acquires landscape information using a line sensor camera installed on a moving object that moves on the ground,
First means for acquiring a line image captured by the line sensor camera at every predetermined moving distance interval of the moving object based on a pulse signal output from the rotary encoder,
Second means for creating a long image by combining line images obtained from the line sensor camera in the moving direction;
Third means for acquiring absolute position coordinate information of the moving object at predetermined time intervals based on an output signal from the GPS;
Fourth means for determining the number of pulses of a pulse signal output from the rotary encoder within the predetermined time interval;
A fifth method for obtaining absolute position coordinate information corresponding to each pulse signal output from the rotary encoder based on the absolute position coordinate information obtained by the third means and the number of pulses obtained by the fourth means. Means,
Sixth means for adding landscape position information to the long image created by the second means by adding absolute position coordinate information corresponding to each of the pulse signals obtained by the fifth means,
And a seventh means for outputting the landscape information created by the sixth means. The moving object is equipped with a posture measuring device,
Eighth means for acquiring posture information of the line sensor camera at each of the predetermined time intervals based on an output signal from the posture measurement device,
Based on the attitude information of the line sensor camera obtained by the eighth means and the number of pulses obtained by the fourth means, the position of the line sensor camera corresponding to each pulse signal output from the rotary encoder is determined. Ninth means for obtaining posture information;
And tenth means for adding attitude information of the line sensor camera corresponding to each of the pulse signals obtained by the ninth means to the landscape information created by the sixth means. The landscape information acquisition device according to claim 1. The moving object is equipped with a distance measuring device,
An eleventh means for acquiring distance information from the line sensor camera to an object to be photographed at each of the predetermined time intervals based on an output signal from the distance measuring device,
Based on the distance information from the line sensor camera to the object to be photographed obtained by the eleventh means and the number of pulses obtained by the fourth means, each pulse signal corresponds to each pulse signal output from the rotary encoder. Twelfth means for obtaining distance information from the line sensor camera to the object to be photographed,
13th means for adding distance information from the line sensor camera to the object to be photographed corresponding to each of the pulse signals obtained by the twelfth means, to the landscape information created by the sixth means. The scenery information acquisition device according to claim 1 or 2, further comprising: The fourth means outputs the pulse number of the pulse signal output from the rotary encoder at the time when the absolute position coordinate information is acquired by the third means, and outputs the pulse number from the rotary encoder at the reference absolute position coordinate. 4. The method according to claim 1, wherein a difference between the pulse number of the pulse signal and the pulse number of the pulse signal output from the rotary encoder is obtained within the predetermined time interval. The described landscape information acquisition device. The landscape information acquisition device according to claim 3, wherein the distance measurement device has two line sensor cameras, and obtains a distance from the line sensor to a shooting target based on a principle of stereo vision. A landscape information acquisition method that is equipped with a rotary encoder and a GPS, and acquires landscape information using a line sensor camera installed on a moving object that moves on the ground,
A first step of acquiring a line image captured by the line sensor camera for each predetermined moving distance interval of the moving object based on a pulse signal output from a rotary encoder;
A second step of combining the line images obtained in the first step in the moving direction to create a long image;
A third step of acquiring absolute position coordinate information of the moving object at predetermined time intervals based on an output signal from a GPS;
A fourth step of determining the number of pulses of the pulse signal output from the rotary encoder within the predetermined time interval;
A fifth step of obtaining absolute position coordinate information corresponding to each pulse signal output from the rotary encoder based on the absolute position coordinate information obtained in the third step and the number of pulses obtained in the fourth step. Steps and
A sixth step of adding landscape position information to the long image created in the second step by adding absolute position coordinate information corresponding to each of the pulse signals obtained in the fifth step;
A seventh step of outputting the landscape information created in the sixth step. The moving object is equipped with a posture measuring device,
An eighth step of acquiring posture information of the line sensor camera at each of the predetermined time intervals based on an output signal from the posture measuring device;
Based on the attitude information of the line sensor camera obtained in the eighth step and the number of pulses obtained in the fourth step, the attitude of the line sensor camera corresponding to each pulse signal output from the rotary encoder A ninth step for seeking information;
A tenth step of adding posture information of the line sensor camera corresponding to each of the pulse signals obtained in the ninth step to the landscape information created in the sixth step. The landscape information acquisition method according to claim 6, wherein The moving object is equipped with a distance measuring device,
An eleventh step of acquiring distance information from the line sensor camera to the imaging target at each of the predetermined time intervals based on an output signal from the distance measuring device,
The distance information corresponding to each pulse signal output from the rotary encoder based on the distance information from the line sensor camera to the object to be photographed obtained in the eleventh step and the number of pulses obtained in the fourth step. A twelfth step of obtaining distance information from the line sensor camera to the object to be photographed,
A thirteenth step of adding distance information from the line sensor camera to the object to be shot corresponding to each of the pulse signals obtained in the twelfth step, to the landscape information created in the sixth step. The landscape information acquisition method according to claim 6 or 7, further comprising: In the fourth step, the number of pulses of the pulse signal output from the rotary encoder at the time when the absolute position coordinate information is obtained in the third step, and the number of pulses output from the rotary encoder at the absolute position coordinates serving as a reference. 9. The method according to claim 6, further comprising: obtaining a difference between the pulse number of the pulse signal and the pulse number of the pulse signal output from the rotary encoder within the predetermined time interval. The landscape information acquisition method according to item 1. 9. The landscape information acquisition method according to claim 8, wherein the distance measuring device has two line sensor cameras, and obtains a distance from the line sensor to a shooting target based on a principle of stereo vision. A landscape information acquisition program for equipping a computer with a rotary encoder and a GPS and executing a landscape information acquisition method of acquiring landscape information using a line sensor camera installed on a moving object moving on the ground,
The landscape information acquisition program, based on a pulse signal output from a rotary encoder, a first procedure for acquiring a line image captured by the line sensor camera for each predetermined moving distance interval of the moving object,
A second procedure of combining the line images acquired in the first procedure in the moving direction to create a long image;
A third procedure for acquiring absolute position coordinate information of the moving object at predetermined time intervals based on an output signal from a GPS;
A fourth procedure for determining the number of pulses of a pulse signal output from the rotary encoder within the predetermined time interval;
Based on the absolute position coordinate information obtained in the third procedure and the number of pulses obtained in the fourth procedure, absolute position coordinate information corresponding to each pulse signal output from the rotary encoder is obtained. A fifth procedure for causing
A sixth procedure of adding absolute position coordinate information corresponding to each of the pulse signals obtained in the fifth procedure to the long image created in the second procedure, and creating landscape information; ,
And a seventh step of outputting the landscape information created in the sixth procedure. The moving object is equipped with a posture measuring device,
An eighth procedure for acquiring the posture information of the line sensor camera at each of the predetermined time intervals based on an output signal from the posture measuring device,
The line sensor camera corresponding to each pulse signal output from the rotary encoder based on the attitude information of the line sensor camera obtained in the eighth procedure and the number of pulses obtained in the fourth procedure. A ninth procedure for obtaining the posture information of
A computer to perform the tenth procedure of adding the posture information of the line sensor camera corresponding to each of the pulse signals obtained in the ninth procedure to the landscape information created in the sixth procedure. The scene information acquisition program according to claim 11, wherein the program is executed. The moving object is equipped with a distance measuring device,
Based on an output signal from the distance measuring device, an eleventh procedure for acquiring distance information from the line sensor camera to a shooting target at each of the predetermined time intervals,
Corresponding to each pulse signal output from the rotary encoder based on the distance information from the line sensor camera to the object to be photographed obtained in the eleventh procedure and the number of pulses obtained in the fourth procedure A twelfth procedure for obtaining distance information from the line sensor camera to the object to be photographed;
A thirteenth procedure for adding distance information from the line sensor camera to the object to be shot corresponding to each of the pulse signals determined in the twelfth procedure to the landscape information created in the sixth procedure. 13. The program according to claim 11, wherein the program is executed by a computer. In the fourth procedure, the number of pulses of the pulse signal output from the rotary encoder at the time when the absolute position coordinate information is obtained in the third procedure, and the number of pulses output from the rotary encoder at the absolute position coordinates serving as a reference. A step of obtaining a difference between the pulse number of the pulse signal and the number of pulses of the pulse signal output from the rotary encoder within the predetermined time interval, and causing the computer to execute the procedure. The scenery information acquisition program according to claim 13. A recording medium on which the program according to any one of claims 11 to 14 is recorded.

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