JP4666488B2 - Article layout support system - Google Patents

Description

  The present invention relates to an article layout support system.

  In recent years, based on three-dimensional information such as indoor furniture, the layout of a room is freely changed according to a resident's request in a virtual space using a personal computer (for example, Patent Documents). 1, Patent Document 2).

In addition, as a means for easily converting the three-dimensional coordinates of such a solid into a numerical value and incorporating it into a computer, three-dimensional image measurement by a stereo method is known (Patent Documents 3 to 4). In addition, a relational expression of the plane is determined from three or more reference points located on the plane appearing in the stereo image and used for image analysis (Patent Document 5).
JP 2002-092126 A JP2004-126820 Japanese Patent No. 3316682 JP2001-280995 JP 2004-233198 A

  For example, when changing the layout of a large number of desks / tables placed in an office or dining room, measuring 3D data such as the height and dimensions of individual desks would require a lot of work. There is a demand for more efficient work.

  Since these desks and tables are usually mass-produced products, it is easy to talk if they are all the same type, but at the actual layout site, we have purchased products of different types over the years, There are many cases in which a plurality of types of types of goods of the same type are mixed. However, the three-dimensional image measurement techniques disclosed in Patent Documents 3 to 5 are mainly intended to measure an object having an irregular and unknown shape such as surveying a land or creating a map. However, there is no disclosure of efficient layout by measuring three-dimensional information of a plurality of objects having regularity, i.e., a large number of articles of the same type and the same size.

  In outdoor shooting such as land surveying and map creation, it is possible to take high-precision images from an angle almost perpendicular to the shooting surface, for example, by aerial shooting, but the layout of many desks placed indoors When photographing the image, the shape of the upper surface of the horizontal desk is photographed obliquely from above. In this case, at the desk far from the photographer, the angle between the desk top surface and the optical axis of the camera is small, and the size of the desk top surface that is the object of measurement in the stereo image is also small. In general, the appearance information of the measurement target on the stereo image is taken into the computer by tracing the outline of the measurement target manually using a cursor on a computer screen displaying the image. Accordingly, if the apparent size of the measurement target on the screen is reduced, the error due to manual operation is relatively increased, and the reliability of the measurement result is impaired.

  Accordingly, the present invention provides an article layout support system that solves the conventional problems, accurately takes the three-dimensional information of many articles of the same type and the same size, and can efficiently perform layout. The purpose is to provide.

The first means is
A system for helping to create a layout drawing of various articles from the stereo image of the various kinds of articles having a certain plan view shape which is arranged in the measurement area,
An image display unit 16 for displaying the layout drawing ;
As a means for assisting the user in taking a stereo image of the article to be measured O, the measurement area S appearing on the screen of the image display unit 16 can be measured with a set of stereo images. An area dividing unit 20 for displaying a dividing line R that divides the area area;
By analyzing a stereo image of the photographed object measured article O, a stereo image analysis unit 4 can calculate the 3-dimensional coordinates of a plurality of representative points A appearing in the plan view of the outer shape of the article,
A storage unit 6 storing appearance information of the article group including dimensions of a plurality of known article groups to be collated with the article to be measured O;
For each article to be measured O, the appearance information of the article including the dimension of the article to be measured is calculated from the three-dimensional coordinates of the representative point, and the appearance information of the article group in which the appearance information is stored in the storage unit 6 The drawing unit provided to create a layout drawing including a plan view corresponding to the three-dimensional coordinates of the representative point of the measured article when there is an article whose appearance information matches the measured article O 8 and
The area dividing unit 20 is a depression angle when viewing the measurement object farthest from the imaging point at one end of the area for each area part according to the height of the imaging camera at the imaging point and the height of the measurement object. Alternatively, it has a function of determining the width of each region so that the elevation angle is equal to or greater than the reference value.
The first feature of this means is that appearance information such as dimensions of the article is calculated from the three-dimensional coordinates of the representative point of each article to be measured measured by three-dimensional measurement, and this is used as the appearance information of a known article group. is that which is adapted to match with. If there is matching information, it is determined that the measurement result is reliable, and a layout drawing is created according to the measured coordinate information. If there is no matching information, the measurement result may be incorrect, so it is desirable to redo the stereo image analysis.

  The “measurement area” is an office, canteen, school classroom, etc., whether indoors or outdoors.

    The “article” is a fixture or furniture arranged in the measurement region and has a certain plan view shape. However, even if it is “constant”, it is sufficient if it can recall a certain shape from a viewpoint. For example, a desk, a table, a cabinet, a locker, and the like are applicable. In addition, the present invention is characterized in that the planar shape of the article can be accurately measured from the horizontal direction or from the upper side. However, in order to measure from such an angle, the upper surface of the article is substantially flat. desirable. Furthermore, in order to easily lay out the plan view of the article, the plan view shape of the article is preferably substantially polygonal or circular.

The “stereo image analysis unit” is a unit that measures the three-dimensional coordinates of the representative point of the article to be measured using an existing stereo method. Briefly describing this method, as shown in FIG. 10, when the world coordinates of a point P in the space are (X, Y, Z) and this point P is photographed with a digital camera from different directions on the left and right, If the coordinates (local coordinates) of the point P on the pair of stereo images are (x _L , y _L ) and (x _R , y _R ), respectively, the following relational expression is established between these coordinates: Is established.

[Formula 1] X = b (x _L + x _R ) / (2d)
[Formula 2] Y = b (y _L + y _R ) / (2d)
[Formula 3] Z = bf / d
Here, f is the focal length of the camera, b is the base line length, d is the parallax, and d = x _L -x _R. Therefore, by analyzing the corresponding points of each stereo image at some representative points on the surface of the object to be measured, for example, corners of the deck (upper plate) of the desk, the three-dimensional coordinates can be obtained, The shape and position of the entire object can be specified.

  The “representative point” is an important point for specifying the shape of the article to be measured, such as a point on the ridge line of the article, particularly a point where two or more ridge lines intersect. For example, a polygon corresponds to a point corresponding to an apex angle, and a circular shape corresponds to any three points on the circumference. As is well known in the art, the representative point may be specified by placing the cursor on the corresponding point of the stereo image displayed on the computer screen. However, when imaging a large number of desks placed in the office, the corner of the deck of the desk, which is the representative point, may not be visible from the camera position, so when the deck is polygonal, the cursor is displayed on the computer screen. Thus, two points on each side are designated or the side is traced to determine the direction of the side on the stereo image, and the intersection of the two sides is specified as the corner.

  The “drawing unit” has a function of extracting appearance information from vertical and horizontal coordinates (X, Y) among at least three-dimensional coordinates (X, Y, Z) of representative points measured. “Appearance information” is information obtained by observing from the outside, and is, for example, a rectangular vertical or horizontal dimension or shape. Specifically, representative lengths such as vertical and horizontal dimensions may be extracted from a plan view drawn by connecting the representative points.

  In addition, the drawing unit can identify the type and model number of the article by comparing the appearance information of the article to be measured with the product information described in the catalog of the existing article. As described later, if the imaging conditions are good, a point at a distance of 10 m from the shooting point has an accuracy of about 2 cm. On the other hand, the standard for the size of furniture such as a desk generally increases or decreases by 10 cm (or 5 cm). It is considered that the article can be sufficiently identified. The “plan view corresponding to the three-dimensional coordinates of the representative point” means an article retrieved from the storage unit by searching from the appearance information based on the three-dimensional coordinates in addition to the plan view drawn by connecting the representative points as described above. Including a plan view.

The second feature of this means is that it further comprises an area dividing unit. The area dividing unit displays a dividing line on the screen of the image display unit 16 that divides the measurement area S appearing on the screen into area portions having a width that can be measured by a set of stereo images. Have

With this feature, it is possible to prevent a measurement error by limiting the measurement region. In other words, if you print out a drawing that divides the measurement area before imaging based on the floor plan of the measurement area, and then take an image of each area shown in the drawing at the imaging site, you can easily perform accurate measurement. Can do.

When the measurement area is divided, it is preferable to divide the measurement area into a grid as shown in FIG. As will be described later , the width of the area can be determined from the height of the imaging camera and the height of the article to be measured (for example, the height of the upper surface of the desk). Can be used.

The third feature of this means is that the area dividing unit 20 is located farthest from the imaging point at one end of each area according to the height of the imaging camera at the imaging point and the height of the article to be measured. It is to have a function of determining the width of each region portion so that the depression angle or elevation angle when viewing the article to be measured is equal to or greater than a reference value.

Since the angle formed camera and the optical axis relative to the upper surface of the target object is a measurement target surface as described above results in a measurement error becomes too small, in the region division unit that angle (measurement plane within the camera downwards In some cases, the depression angle and the elevation angle in the case of being above the camera are equal to or greater than the reference value. This reference value is experimentally determined in relation to the required accuracy, but when measuring an article with a depth of about 60 cm, which is about 10 m away from the camera, a depression angle of about 2.7 degrees is sufficient.
The area dividing unit may be separated from other parts of the system of the present invention and stored in a portable computer. Then, the height of a locker or cabinet that is a measurement target in the field is measured and substituted. Can

The second means includes the first means, and the storage unit 6 stores the plan view shape of the article group, and the plan view shape of the article whose appearance information matches the article to be measured. Provided to output to the drawing unit 8,
For each article to be measured, the drawing unit 8 pastes the plan view on the floor plan of the measurement region S to synthesize the layout drawing, and determines the size, position, and direction that each plan view should occupy on the floor plan. It is provided so as to be determined according to the appearance information of the article to be measured and the three-dimensional information of the representative point.
In this means, what is previously stored in the storage unit is used as the plane figure of each article to be measured described in the layout drawing.

The invention according to the first means produces the following effects.
○ Since the appearance data measured for the measured article is collated with the data of the corresponding corresponding group of articles, and a layout diagram is created according to the measured coordinate information, the measurement results with large errors are eliminated, and reliability A figure with a high height can be created easily.
○ Even if there is no skilled experience and knowledge about office surveys, it is possible to perform certain quality work reliably and to create layout materials quickly.
○ The work time in the office is shortened, so the burden on office workers is small.

According to the invention according to the first means, by dividing the measurement area, it is possible to set the imaging condition so as not advance error occurs, avoid having to re-measure with respect of questionable reliability measurement results And high-accuracy image analysis can be performed smoothly.

According to a further invention according to the first means, since the size of the divided region portion set by the depression angle or elevation angle of the camera position with respect to the measured article, better layout drawing is obtained.

According to the invention according to the second means, as the plan view of the measured articles pasted on the layout drawing, because using known information recorded in the storage unit, a plan view from the coordinate information itself measured As in the case of drawing, the size of a plan view of an article of the same type does not vary due to measurement errors, and a beautiful layout diagram can be easily created.

1 to 4 show a layout support system according to a reference example of the present invention.

    This system includes an imaging unit 2, a stereo image analysis unit 4, a storage unit 6, a drawing unit 8, and an image display unit 16. Note that the system may be a system that analyzes and processes a stereo image captured outside by omitting the imaging unit.

  The imaging unit 2 only needs to be a camera that can be carried by the user, and the user sequentially moves the corner of the measurement area S where the article to be measured O is placed as shown in FIG. A stereo image may be taken at a height. The camera can be a conventionally known CCD (charge coupled device) camera.

  The stereo image analysis unit 4 is a conventionally known one, and can be software stored in a computer in the same manner as the drawing unit 8 described later. A stereo image taken by the imaging unit 2 is displayed on the computer screen as shown in FIG. Trace the contour of the top surface of the desk, for example, on the screen to identify the representative point (for example, the four corners of the desk) A on the contour, and determine the three-dimensional coordinates of each representative point according to the principle described in FIG. What is necessary is just to comprise so that it may determine.

  The storage unit 6 stores at least a size / shape and plan view information of the same type of article group to be collated with the article to be measured O in a database. Further, the floor plan of the measurement area to be laid out is stored in the storage unit prior to use of the present system. This storage unit can be formed as a storage device or MO as shown in FIG.

  As shown in FIG. 2, the drawing unit 8 includes an appearance information extraction unit 10, a collation unit 12, and a drawing unit 14.

    The appearance information extraction unit 10 extracts a representative length of the plan view as appearance information from the plan view drawn by connecting the representative points A determined by the stereo image analysis unit 4.

The collation unit 12 performs, for each article to be measured, the type of the article such as whether the article is a table or a cabinet according to the user's designation, and stores the designated type in the storage unit 6. The appearance information of each of the types (types) of articles thus obtained is compared with the appearance information of the article to be measured. When the appearance information matches, it is determined that the article and the article to be measured O are the same. More specifically, as described above, since the standard of the size of furniture generally increases in units of about 10 cm, an error range ΔL of a certain length (for example, 2 cm) is taken around the standard length, and L ± ΔL If it is in the range, it is sufficient to certify that the article of the standard is the same as the article to be measured O. If an article of the corresponding standard is not found, that effect is displayed on an image display unit described later. In this case, the user may reanalyze the previously analyzed stereo image. Further, when the measurement area S is imaged, an extra stereo image may be taken for each part of the area, and the analysis may be performed with a new image.

    Note that it is convenient to specify the type of article to be measured by setting the color of a work line that traces the outline of the article during the above-described stereo image analysis.

  As shown in FIG. 5, the drawing unit 14 takes out the plan view information of the identified article from the storage unit 6 and pastes the plan view on the floor plan of the storage unit 6. At the same time, it is provided to synthesize the layout drawing. The pasting operation may be performed fully automatically, or the operator may drag and release the above plan view onto the floor plan in the computer screen. It is desirable that the drawing unit 14 automatically adjusts the size, position, and direction that each plan view should occupy in accordance with the appearance information of the article to be measured and the three-dimensional information of the representative points.

The image display unit 16 is configured to display a layout diagram and various other information synthesized by the drawing unit.

In the above configuration, a measurement test was performed in a rectangular office shown in FIG. The camera used for the measurement had a performance of 5 million pixels, and the shooting height from the floor was about 2 m. The long side D _{1 of the} office is 24.470 m, the short side D ₂ is 12.230 m, the first baseline length b ₁ between the shooting points on the left side of the drawing is 5.4 m, and the second baseline length b ₂ between the shooting points on the right side of the drawing. Was 7.5 m, the distance between both baselines was 15 m, the long and short sides of the office, the dimensions of the desk O ₁ and the cabinet O ₂ were measured by three-dimensional image measurement, and compared with the actual measurement values, the following results were obtained.

According to the above result, the error in the dimensions of the desk and cabinet is about 2 to 4 cm, and as expected, it can be seen that the error is large in the depth direction (left and right direction in the drawing) viewed from the camera. Although this can sufficiently withstand practical use, it is ideal that the error is 2 cm or less, and improvements for that will be described in the following embodiment .

6 to 8 show the layout support system according to the first embodiment of the present invention. As shown in FIG. 6 , the present embodiment is different from the reference example in that an area dividing unit 20 is provided. In the configuration of the present embodiment, the same parts as those in the reference example are denoted by the same reference numerals, and the description is omitted .

The region dividing unit 20 is suitable for three-dimensional measurement by drawing an appropriate number of dividing lines R in the vertical or horizontal direction on the floor plan of the measuring region S taken out from the storage unit 6 as shown in FIG. It is provided so as to be divided into area portions S ₁ , S ₂ . The area dividing unit 20 can be set to draw the minimum dividing line R in the measurement area under the condition that each side of the area portion is equal to or lower than the upper limit value. If the upper limit is 10 m and the illustrated measurement area S is the same size as that in FIG. 3, D ₁ ≈24.5 m, so the measurement area S must be divided into three in the horizontal direction in the figure. Since D ₂ ≈12.3 m, it is necessary to divide the measurement region into two in the vertical direction of the figure. In the illustrated example, the measurement area is equally divided in the vertical and horizontal directions in the figure, but the dividing line R overlaps with the installation location of the article to be measured, and a shooting point cannot be secured near the dividing line R. The dividing line R can also be moved with the cursor as shown in the range within the range satisfying the upper limit value. Since the article layout does not appear on the computer screen before the measurement, it is preferable to set the dividing line while bringing the portable computer containing the system to the site and watching the situation.

FIG. 8 shows a procedure for setting the upper limit value. A rectangular object to be measured O having a width d = 60 cm was photographed with a camera as the imaging unit 2 from a distance of L = 10 m. The height H1 of the camera is 1.195 m, the height of the article to be measured is 0.695 m, and the height difference is 50 cm. A camera with 3 million pixels was used. At this time, the depression angle θ of the camera was 2.68 degrees, and the length when the three-dimensional image measurement was performed on the measurement object having an actual measurement value of 60 cm was 58 cm. From this, it can be seen that if the furniture with a size of about 60 cm is measured obliquely from above and the error is suppressed to 2 cm or less, the depression angle θ needs to be about 2.7 degrees or more. These numbers are not absolute, and there is a possibility that the error can be made smaller if a camera with good performance is used. However, the minimum value of the depression angle θ is determined in consideration of the performance of the measuring device, and if the difference ΔH between the camera height and the article height is known, the upper limit L of the size of the measurement region is L = ΔH / Tanθ can be determined.

[Example]
FIG. 9 shows a flow chart of a preferred embodiment of the present invention. In this embodiment, not only the layout of articles such as furniture and fixtures is supported, but the price of each article is stored in the storage unit 6 and the cost when the current article is replaced with a new same type or another product. It is configured to automatically create an estimate for each.

It is a block diagram of the layout assistance system which concerns on the reference example of this invention. It is a conceptual diagram of the system of FIG. It is explanatory drawing when a stereo image is image | photographed in the image measurement using this system. It is a figure which shows the operation | work of the analysis of a stereo image in the system of FIG. FIG. 2 is a drawing depicting a state where a plan view of various articles in a storage unit virtually drawn in the system of FIG. 1 is combined with a floor plan of a measurement area. 1 is a configuration diagram of a layout support system according to a first embodiment of the present invention. FIG. 6 is an explanatory diagram illustrating a state in which a measurement region is divided in the system of FIG. 5. It is a figure explaining the method of the area | region division of the system of FIG. It is a flowchart which shows the other Example of this invention. It is a principle diagram of conventional three-dimensional image measurement.

Explanation of symbols

2 ... Imaging unit 4 ... Stereo image analysis unit 6 ... Storage unit 8 ... Drawing unit 10 ... Appearance information extraction unit 12 ... Collation unit 14 ... Drawing unit
16 ... image display unit 20 ... Segmentation unit A ... representative point O ... the measured article O ₁ ... desk O 2 _... cabinet R ... dividing line S ... measurement area b ... base length

Claims (2)

A system for supporting creation of layout drawings of various articles from stereo images of various articles having a certain plan view shape arranged in a measurement region,
An image display unit (16) for displaying the layout drawing ;
As a means for assisting the user in taking a stereo image of the article to be measured (O), the measurement area (S) appearing on the screen of the image display unit (16) is defined as a set of stereo. An area dividing unit (20) for displaying a dividing line (R) that divides the area into areas that can be measured in the image;
A stereo image analysis unit ( 4 ) that can analyze the stereo image of the photographed article ( O ) and calculate the three-dimensional coordinates of a plurality of representative points ( A ) that appear on the plan view of the outer shape of the article. ) And
A storage unit ( 6 ) for storing appearance information of the article group including dimensions of a plurality of known article groups to be compared with the article to be measured ( O ) ;
For each item to be measured ( O ) , the appearance information of the item including the dimensions of the item to be measured is calculated from the three-dimensional coordinates of the representative point, and the appearance information is stored in the storage unit ( 6 ). When there is an article whose appearance information matches the measured article ( O ) , the layout drawing including the plan view corresponding to the three-dimensional coordinates of the representative point of the measured article is created. A drawing unit ( 8 ) provided as follows,
When the area division unit (20) looks at the measurement object farthest from the imaging point at one end of each area according to the height of the imaging camera at the imaging point and the height of the measurement object. A layout support system characterized by having a function of determining the width of each region portion so that the depression angle or elevation angle is equal to or greater than a reference value . The storage unit ( 6 ) stores the plan view shape of the article group, and is provided so as to output the plan view shape of the article whose appearance information matches the article to be measured to the drawing unit ( 8 ) ,
For each article to be measured, the drawing unit ( 8 ) pastes the plan view into the floor plan of the measurement area ( S ) and synthesizes the layout drawing, and the size and position that each plan view should occupy on the floor plan. 2. The article layout support system according to claim 1, wherein the position and direction are determined in accordance with the appearance information of the article to be measured and the three-dimensional information of the representative point.

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