Method for manufacturing 3D data, method for detecting inclination, and program

Abstract

To provide a method for manufacturing 3D data or other method which can obtain 3D data in which a target object is arranged on a horizontal surface.SOLUTION: A method for manufacturing 3D data is provided. The method for manufacturing includes: a marker arranging step of arranging three markers so that the markers have the same height; a 3D scan step of performing 3D scan on the three markers and a target object; and a correction step of correcting the inclination of the 3D data to a horizontal direction by rotating the coordinate axis of the 3D data of the target object obtained by the 3D scan so that the Z-coordinates of the three markers match with respect to the center of the coordinate of one of the three markers on which 3D scan was performed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a method for manufacturing 3D data, a method for detecting inclination, and a program.

Background Art

[0002] As disclosed in Patent Document 1, a method of acquiring 3D data (drawings) of a structure by 3D scanning the structure is well known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above 3D scanning method, although the shape of the object can be obtained, the coordinate axes of the obtained shape are not necessarily parallel to the horizontal direction. Therefore, the posture of the object (for example, the inclination with respect to the horizontal plane or the vertical plane) cannot be accurately evaluated. Also, in the measurement of the distance between two points, the horizontal distance parallel to the horizontal plane and the vertical distance parallel to the vertical plane cannot be correctly evaluated.

[0005] In view of the above circumstances, the present invention aims to provide a method for manufacturing 3D data and the like that can obtain 3D data in which an object is arranged on a horizontal plane.

Means for Solving the Problems

[0006] According to one aspect of the present invention, a method for manufacturing 3D data is provided. This manufacturing method includes a marker arrangement step of arranging three markers so that their heights are aligned, a 3D scanning step of 3D scanning each of the three markers and an object, and a correction step of correcting the inclination of the 3D data with respect to the horizontal direction by rotating the coordinate axes of the 3D data obtained by 3D scanning so that the Z coordinates of the three markers match, with the coordinates of one of the three 3D scanned markers as the center.

[0007] According to such an aspect, since the coordinate axes of the 3D data are corrected using the coordinates of the three markers so that the Z axis is orthogonal to the horizontal direction, 3D data of an object placed on a horizontal plane can be obtained.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various features shown in the embodiments described below can be combined with each other.

[0010] <Object 101> FIG. 1 is a schematic diagram showing an example of an object 101 which is an object for creating 3D data in the method for manufacturing 3D data of the present aspect. The object 101 is, for example, a building, a structure, a construction, etc. installed on the ground. The 3D data obtained by the method for manufacturing 3D data of the present aspect is obtained by arranging a point cloud representing the object 101 in a three-dimensional coordinate space and is composed of a set of three-dimensional coordinate information of the point cloud. Further, the object 101 is also an object for detecting inclination in the inclination detection method of the present aspect. In addition, the three-dimensional space coordinates in the 3D data obtained in the present aspect define the vertical axis in the height direction as the Z axis, and two horizontal axes orthogonal to each other in the horizontal plane as the X axis and the Y axis.

[0011] <Method for Manufacturing 3D Data> FIG. 2 is a flowchart of the method for manufacturing 3D data of this aspect. The manufacturing method is a method for obtaining 3D data of the object 101.

[0012] The manufacturing method includes a marker placement step S110, a 3D scan step S120, and a correction step S130.

[0013] <Marker Placement Step S110> In the marker placement step S110, three markers are arranged so that their heights are aligned. FIG. 3 is a schematic diagram showing an example of the height adjustment procedure of the first marker 21, the second marker 22, and the third marker 23. The first marker 21, the second marker 22, and the third marker 23 are arranged to define the horizontal plane during 3D scanning.

[0014] As shown in FIG. 3, the three markers (the first marker 21, the second marker 22, and the third marker 23) are each a checkerboard. Thereby, the extraction accuracy of the center position of each marker in 3D scanning is improved. As a result, the horizontal accuracy of the 3D data of the object 101 is improved. A checkerboard is a board having a marker surface in which rectangles of two different colors are alternately arranged in a grid pattern. Typically, the marker surface has a design in which white and black rectangles are alternately arranged in two vertical rows and two horizontal rows. The center of the marker surface coincides with the boundary points of the four rectangles (the points where the vertices of the four rectangles overlap). Also, the first marker 21, the second marker 22, and the third marker 23 can each be adjusted to move the position of the marker surface in the vertical direction. Note that if the center position of the marker can be specified by 3D scanning and its coordinate value can be extracted, as the three markers, something other than a checkerboard (for example, a reflection prism, a barcode staff, a GNSS receiver, etc.) may be used.

[0015] In the marker placement step S110, the height of three markers (the first marker 21, the second marker 22, and the third marker 23) is adjusted using the surveying equipment 10. As a result, the coordinates of the Z-axis of the three reference markers can be aligned with high precision, improving the horizontal accuracy of the 3D data of the object 101.

[0016] The surveying equipment 10 is equipment capable of measuring the horizontal position of the surveying target (marker). As the surveying equipment 10, for example, a level (automatic level or tilting level), transit, theodolite, total station, GNSS surveying equipment (satellite positioning system), etc. can be used. Among these, it is preferable to use an automatic level or tilting level as the surveying equipment 10. The automatic level or tilting level can measure horizontal, gradient, height difference, etc., and has high workability and measurement accuracy. Therefore, by using an automatic level or tilting level, the acquisition efficiency and horizontal accuracy of the 3D data of the object 101 are improved.

[0017] Hereinafter, the case where a level (automatic level or tilting level) is used as the surveying equipment 10 will be described.

[0018] FIG. 4 is a schematic plan view showing an example of the arrangement of the first marker 21, the second marker 22, and the third marker 23. In the marker placement step S110, the operator first places the first marker 21, the second marker 22, and the third marker 23 near the object 101. "Near the object 101" means a range in which the first marker 21, the second marker 22, and the third marker 23 can be 3D scanned together with at least a part of the object 101. At this time, the first marker 21, the second marker 22, and the third marker 23 are preferably arranged at positions equidistant from the surveying equipment 10. As a result, the horizontal accuracy of the 3D data of the object 101 is improved.

[0019] FIG. 5 is a schematic diagram for explaining the instrumental error E of the surveying instrument 10. The instrumental error E is an assumed error between the line of sight LS of the surveying instrument 10 (level) and the true horizontal plane H. As shown in FIG. 5, the magnitude of the instrumental error E is proportional to the distance to the targets Q and R. Therefore, the instrumental error E can be canceled by making the distances from the surveying instrument 10 to a plurality of targets (markers) the same. Therefore, as shown in FIG. 4, it is desirable to arrange the first marker 21, the second marker 22, and the third marker 23 at positions where the distances from the auto level are equal.

[0020] FIG. 6 is a schematic diagram showing the procedure for adjusting the heights of the first marker 21, the second marker 22, and the third marker 23 by the surveying instrument 10. The operator adjusts the height of each marker so that the centers of the three markers pass through the line of sight LS using the surveying instrument 10 that has been adjusted (leveled) in advance so that the line of sight LS is horizontal.

[0021] Note that the heights of the first marker 21, the second marker 22, and the third marker 23 may be aligned using equipment other than the surveying instrument 10. For example, the heights of the three markers may be adjusted using a transit, a theodolite, a total station, a GNSS (Global Navigation Satellite System), or the like.

[0022] In this aspect, the coordinate axes of the 3D data are corrected in the correction step S130 described later so that the X-Y plane of the 3D data obtained by the 3D scan in the 3D scan step S120 is parallel to the plane formed by the three points of the first marker 21, the second marker 22, and the third marker 23 arranged in the marker arrangement step S110.

[0023] <3D Scan Step S120> In the 3D scan step S120, the three markers (the first marker 21, the second marker 22, and the third marker 23) with aligned heights and the object 101 are each 3D scanned. FIG. 7 is a schematic plan view showing an example of the arrangement of the 3D scanner 30. As the 3D scanner 30, for example, a laser beam type scanner can be used.

[0024] The 3D scanner 30 is arranged at a position where it can scan each of the first marker 21, the second marker 22, and the third marker 23, and at least a part of the object 101 (that is, these can be included in the scanning range). Note that the three markers and the object 101 do not have to be scanned simultaneously. For example, after scanning the three markers, the object 101 may be scanned at the same position and posture, or after scanning two markers, the remaining marker and the object 101 may be scanned at the same position and posture, or the first marker 21, the second marker 22, the third marker 23, and the object 101 may be scanned one by one at the same position and posture.

[0025] The position where the 3D scanner 30 performs scanning may be the same as the position where the surveying equipment 10 is arranged in the marker arrangement step S110, or may be a position different from the position where the surveying equipment 10 is arranged. However, the 3D scanner 30 is arranged at a position where it can face at least the marker surfaces of the first marker 21, the second marker 22, and the third marker 23 (that is, the centers of the first marker 21, the second marker 22, and the third marker 23 can be scanned).

[0026] In the 3D scanning step S120, a plurality of 3D scanners 30 may be used to scan the three markers and the object 101. Also, after scanning the three markers and the object 101 from the initial position (a position where the three markers can be scanned), in order to obtain the overall shape of the object 101, only the object 101 may be scanned from a position different from the initial position. The 3D data of the object 101 scanned without including the three markers is superimposed on the 3D data of the object 101 scanned at the initial position using a marker or the like for data superimposition.

[0027] Furthermore, after scanning the three markers at the initial position, the marker placement step S110 may be executed again. That is, after executing the 3D scanning step S120, the first marker 21, the second marker 22, the third marker 23, and the surveying equipment 10 may be placed at another position, and the heights of the three markers may be aligned. After adjusting the heights of the three markers, the 3D scanning step S120 is executed again. When repeating the 3D scanning of the three markers at different positions, for example, the coordinates of the three markers in the 3D data with the smallest difference in the Z-axis of the three markers are used in the next correction step S130. Thereby, the horizontal accuracy of the 3D data of the object 101 can be improved.

[0028] Note that the scanning conditions (e.g., point cloud density, point cloud quality, etc.) in the 3D scanner 30 are appropriately set according to the shapes, sizes, etc. of the first marker 21, the second marker 22, the third marker 23, and the object 101.

[0029] <Correction step S130> In the correction step S130, about the coordinates of one of the three markers (the first marker 21, the second marker 22, and the third marker 23) 3D scanned in the 3D scanning step S120 as the center, so that the Z coordinates of the three markers match, by rotating the coordinate axes of the 3D data of the object 101 obtained by 3D scanning, the inclination of the 3D data in the horizontal direction is corrected.

[0030] The procedure for correcting the inclination of the 3D data will be described in detail below. FIG. 8 is a schematic diagram showing the rotation procedure of the coordinate axes of the 3D data. The coordinate axes of the 3D data are orthogonal three-dimensional coordinate axes. In the 3D data obtained by the manufacturing method of the 3D data, the X-axis and the Y-axis are parallel to the horizontal direction, and the Z-axis is orthogonal to the horizontal direction. That is, the X-Y plane including the X-axis and the Y-axis constitutes a horizontal plane, and the Z-axis is parallel to the vertical direction.

[0031] In the correction process S130, first, among the first marker 21, the second marker 22, and the third marker 23 obtained by 3D scanning, the coordinates of any one of the markers are set as the origin of the coordinate axes of the 3D data. In this example, the coordinates of the first marker 21 are point A, the coordinates of the second marker 22 are point B, and the coordinates of the third marker 23 are point C. Also, as shown in FIG. 8A, point A is set as the origin of the coordinate axes. That is, the coordinates of the first marker 21 are set to (0, 0, 0). The coordinates of point B and point C are corrected to the coordinates with point A as the origin. That is, the coordinates of the second marker 22 and the third marker 23 in the 3D data become the relative coordinates with respect to the first marker 21. Specifically, if the coordinates of point A, point B, and point C during 3D scanning are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), respectively, through the calculation with point A as the origin, the coordinates of point A, point B, and point C become (0, 0, 0), (x2 - x1, y2 - y1, z2 - z1), and (x3 - x1, y3 - y1, z3 - z1), respectively.

[0032] After setting point A as the origin, the X-axis and the Y-axis are rotated so that the Z coordinates of point B and point C become zero. The rotation angles of the X-axis and the Y-axis are calculated using the rotation coordinate transformation matrix around the X-axis and the rotation coordinate transformation matrix around the Y-axis, respectively. Thereby, point A, point B, and point C are all arranged on the X-Y plane (horizontal plane).

[0033] After the rotation of the X-axis and the Y-axis, as shown in FIG. 8B, further, the Z-axis may be rotated so that the X coordinate of point B becomes zero (that is, point B is located on the Y-axis). The rotation angle of the Z-axis is calculated using the rotation coordinate transformation matrix around the Z-axis. Thereby, since the straight line connecting point A and point B becomes parallel to the Y-axis, the load of the coordinate transformation process in the 3D data can be reduced.

[0034] In the 3D scan process S120, the point cloud that constitutes the 3D data of the object 101 being scanned has its coordinates transformed along with the rotation of the coordinate axes that align the Z coordinates of the three markers and the rotation of the coordinate axes that superimpose point B on the Y axis. That is, in the correction process S130, the same transformation process (transformation by a rotation coordinate transformation matrix) as that for points A, B, and C is performed on the point cloud that constitutes the 3D data of the object 101. As a result, the inclination of the 3D data of the object 101 with respect to the horizontal direction is corrected, and 3D data of the object 101 is obtained in which the Z coordinate of the point cloud represents the height with respect to the horizontal plane.

[0035] Note that for the rotation of the Z axis, the lengths of line segment AB, line segment BC, and line segment CA may be obtained, and the angle α for rotating triangle ABC so that line segment AB overlaps the Z axis may be obtained. In this case, the transformation of the coordinates of the point cloud accompanying the rotation of the Z axis is performed by a trigonometric function using the angle α.

[0036] The correction of the inclination of the 3D data of the object 101 in the correction process S130 is executed, for example, by an information processing device (computer) including at least one processor. The processor is, for example, a Central Processing Unit (CPU), and realizes various functions by reading a predetermined program.

[0037] The information processing device corrects the inclination of the 3D data by reading a 3D data creation program used for manufacturing the 3D data. The 3D data creation program causes at least one processor of the information processing device to execute the following steps. That is, in the correction step, with the coordinates of one of the three markers (the first marker 21, the second marker 22, and the third marker 23) that have been 3D scanned in a state where they are arranged so that their heights are aligned as the center, the coordinate axes of the 3D data of the object 101 obtained by 3D scanning are rotated so that the Z coordinates of the three markers match, thereby correcting the inclination of the 3D data with respect to the horizontal direction.

[0038] The program for the main state may be provided as a non-transitory computer-readable medium, or may be provided for download from an external server, or may be provided to start the program on an external computer to realize its functions on a client terminal (so-called cloud computing).

[0039] <Inclination Detection Method> FIG. 9 is a flowchart of the inclination detection method of this embodiment. The inclination detection method is a method for detecting the inclination of the object 101 with respect to the horizontal plane or the vertical plane.

[0040] The inclination detection method includes a marker arrangement step S210, a 3D scan step S220, a correction step S230, and a detection step S240. The marker arrangement step S210, the 3D scan step S220, and the correction step S230 in the inclination detection method are the same steps as the marker arrangement step S110, the 3D scan step S120, and the correction step S130 in the above-described 3D data manufacturing method, respectively. That is, the inclination detection method is obtained by adding the detection step S240 to the above-described 3D data manufacturing method.

[0041] <Detection Step S240> In the detection step S240, the inclination of the object 101 with respect to the horizontal plane or the vertical plane is detected using a cross-section orthogonal to the horizontal plane or the vertical plane of the 3D data that has passed through the correction step S230. Hereinafter, as specific procedures, a first procedure and a second procedure will be described.

[0042] FIG. 10 is a schematic diagram showing an example of a vertical cross-section CS1 of the 3D data of the object 101. In the first step, first, a vertical cross-section CS1 of the object 101 viewed from an arbitrary direction shown in FIG. 10A is extracted from the 3D data. The vertical cross-section CS1 is orthogonal to the horizontal plane (that is, parallel to the Z-axis of the 3D data) and passes through the center of the object 101. Next, an inverted cross-section CS2 obtained by inverting the vertical cross-section CS1 (that is, inverting about an axis parallel to the vertical direction) is created, and as shown in FIG. 10B, the vertical cross-section CS1 and the inverted cross-section CS2 are superimposed. In the first step, in the state where the vertical cross-section CS1 and the inverted cross-section CS2 are superimposed in this way, the inclination of the object 101 with respect to the vertical plane is detected by checking the deviation between the vertical cross-section CS1 and the inverted cross-section CS2. Note that the inclination of the object 101 may be detected by repeating the first step using a plurality of vertical cross-sections CS1.

[0043] FIG. 11 is a schematic diagram showing an example of a horizontal cross-section CS3 of the 3D data of the object 101. In the second step, first, horizontal cross-sections CS3 of the object 101 are extracted from the 3D data at a plurality of arbitrary heights of the object 101. The horizontal cross-section CS3 is orthogonal to the vertical plane (that is, orthogonal to the Z-axis of the 3D data). Next, the center P (geometric centroid) of each horizontal cross-section CS3 is calculated. FIG. 12 is a graph showing an example of the distribution of the X-Y coordinates of the centers P of the plurality of horizontal cross-sections CS3. As shown in FIG. 12, by plotting the centers P of the respective horizontal cross-sections CS3 and connecting these plurality of centers P in the order of the height of the horizontal cross-section CS3, the deviation of the center of the object 101 along the height can be grasped. The inclination of the object 101 can be detected from the deviation amounts in the X direction and the Y direction with respect to the origin (for example, the center P of the horizontal cross-section CS3 at the lowest position) of each center P.

[0044] Note that in the detection step S240, the inclination of the object 101 with respect to the horizontal plane may be detected. For example, this aspect is also applicable to the detection of the inclination of the top surface of a structure such as a tunnel with respect to the horizontal plane.

[0045] The inclination detection in the detection step S240 is executed by the information processing device. The information processing device detects the inclination of the object 101 by reading an inclination detection program for detecting the inclination. The inclination detection program causes at least one processor of the information processing device to execute the following steps. That is, in the inclination detection step, using a cross section of the 3D data that has undergone the correction step and is orthogonal to the horizontal plane or the vertical plane, the inclination of the object 101 with respect to the horizontal plane or the vertical plane is detected.

[0046] 4. Operation Summarizing the operation of the present embodiment, it is as follows. In the method for manufacturing 3D data, since the coordinate axes of the 3D data are corrected using the coordinates of the three markers so that the Z-axis is orthogonal to the horizontal direction, 3D data of the object 101 with the object 101 arranged on the horizontal plane can be obtained. Also, in the inclination detection method, since the inclination of the object 101 is detected using the 3D data with the coordinate axes corrected, the accuracy of the detected inclination is improved.

[0047] As described above, the embodiments of the present invention have been described, but the present invention is not limited thereto and can be appropriately changed without departing from the technical idea of the invention.

[0048] 5. Examples Hereinafter, the results of manufacturing 3D data and detecting the inclination of the structure using the present state will be described.

[0049] <Example 1> Three markers with the same height were arranged at positions A, B, and C in the 3D space using a commercially available auto level, and 3D data of these markers were acquired using a commercially available 3D laser scanner. Then, the 3D data was aligned so that the 3D data including each marker obtained by arranging them at different three locations became one coordinate system. Note that points A, B, and C were arranged at positions close to the vertices of an equilateral triangle on concentric circles with a radius of about 7 - 8 m centered on the auto level. As a result, the distance between each point was about 12 - 14 m.

[0050] In Example 1, the coordinate axes of the 3D data were corrected so that the X-Y plane of the 3D data was parallel to the plane formed by the center positions of the three markers arranged. In Comparative Example 1, the coordinate axes of the 3D data were not corrected.

[0051] Table 1 shows the results of comparing the Z coordinate values (heights) of points A, B, and C on the 3D data. For easy comparison, the Z coordinate value of point A was set to 0.0 mm. As shown in Table 1, in Example 1, the Z coordinate values of points A, B, and C are all 0.0 mm. In one of the comparative examples, the Z coordinate value of point B was -1.0 mm, and the Z coordinate value of point C was 2.1 mm. Assuming the distance between point B and point C is 13 m, the gradient between point B and point C is approximately 0.24 / 1000 (0.0137 degrees). This gradient results in a vertical error of 24 mm with respect to the true horizontal plane when there is an object 100 m ahead in the horizontal direction. Therefore, by applying the method of this aspect, this vertical error can be minimized.

[0052]

Table 1

[0053] <Example 2> Three markers with the same height were arranged at points A, B, and C on the 3D space including the structure K to be measured using a commercially available auto level, and a plurality of 3D data were acquired using a commercially available 3D laser scanner. Then, the 3D data were aligned so that they were in one coordinate system. Points A, B, and C were arranged so as to be close to the vertices of an equilateral triangle on a concentric circle with a radius of about 7 - 8 m centered on the auto level, similar to Example 1. As a result, the distance between each point is about 12 - 14 m.

[0054] FIG. 13 is a schematic diagram showing the extraction position of a cross-section of the 3D data of the structure K. As shown in FIG. 13, cross-sections to be inspected for each layer of the structure K were extracted from the 3D data. FIG. 14 is a graph expressing the central position of each layer of the structure K as changes in each of the four directions of east, west, south, and north. In the graph of FIG. 14, the central position of the 1F was taken as the origin. In Example 2 in FIG. 14, the coordinate axes of the 3D data were corrected so that the X-Y plane of the 3D data and the plane formed by the central positions of the three markers arranged were parallel. Also, in Comparative Example 2, the coordinate axes of the 3D data were not corrected.

[0055] As shown in FIG. 14, in Example 2, the 2F is inclined to the east, and the 3F and 4F are inclined to the north. However, in Comparative Example 2, the 2F is largely inclined not only to the east but also to the south. Also, the 3F and 4F in Comparative Example 2 are inclined to the north in the same manner as in Example 2, but the amount of inclination is not large.

[0056] FIG. 15 is a graph showing the amount of change in the central position for each layer of Example 2 and Comparative Example 2, focusing on the north-south direction. Also, FIG. 16 is a graph obtained by inclining the horizontal line of the data of Comparative Example 2 in FIG. 15 so that the south side is higher. From FIGS. 15 and 16, it can be seen that Comparative Example 2 is inclined with respect to the true horizontal. Thus, by using the method of this aspect, information on the horizontal plane can be given to the 3D data, and the inclination of the object can be accurately evaluated.

[0057] 6. Others The use of the 3D data obtained by the method for manufacturing 3D data of this aspect is not limited to the detection of the inclination of the object 101. The 3D data obtained by the method for manufacturing 3D data of this aspect can also be used for applications such as the evaluation of the dimensions of the object 101 (horizontal distance parallel to the horizontal plane and vertical distance parallel to the vertical plane) and the creation of a design drawing of the object 101.

[0058] It may also be provided in each of the aspects described below.

[0059] (1) A method for manufacturing 3D data, comprising: a marker arrangement step of arranging three markers so that their heights are aligned; a 3D scanning step of 3D scanning each of the three markers and an object; and a correction step of rotating the coordinate axes of the 3D data of the object obtained by 3D scanning so that the Z coordinates of the three markers match, with the coordinates of one of the three 3D-scanned markers as the center, thereby correcting the inclination of the 3D data with respect to the horizontal direction.

[0060] (2) In the method for manufacturing 3D data according to (1) above, the three markers are each a checkerboard.

[0061] (3) In the method for manufacturing 3D data according to (1) or (2) above, in the marker arrangement step, surveying equipment is used to adjust the heights of the three markers.

[0062] (4) In the method for manufacturing 3D data according to (3) above, the surveying equipment is an auto level or a tilting level.

[0063] (5) An inclination detection method, comprising: a marker arrangement step of arranging three markers so that their heights are aligned; a 3D scanning step of 3D scanning each of the three markers and an object; a correction step of rotating the coordinate axes of the 3D data of the object obtained by 3D scanning so that the Z coordinates of the three markers match, with the coordinates of one of the three 3D-scanned markers as the center, thereby correcting the inclination of the 3D data with respect to the horizontal direction; and a detection step of detecting the inclination of the object with respect to the horizontal plane or the vertical plane using a cross-section of the 3D data passing through the correction step and orthogonal to the horizontal plane or the vertical plane.

[0064] (6) A program used for manufacturing 3D data, causing at least one processor to execute the following steps. In the correction step, with the coordinates of one of the three markers that have been 3D scanned and arranged so that their heights are aligned as the center, the coordinate axis of the 3D data of the object obtained by 3D scanning is rotated so that the Z coordinates of the three markers match, thereby correcting the inclination of the 3D data with respect to the horizontal direction. Of course, this is not all-inclusive.

[0065] Finally, although various embodiments according to the present disclosure have been described, these are presented as examples and are not intended to limit the scope of the invention. The novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. Such embodiments and their modifications are included in the scope and gist of the invention and are also included in the invention described in the claims and the equivalent scope thereof.

Explanation of Reference Numerals

[0066] 10: Surveying equipment 21: First marker 22: Second marker 23: Third marker 30: 3D scanner 101: Object CS1: Vertical cross-section CS2: Inverted cross-section CS3: Horizontal cross-section LS: Line of sight P: Center S110: Marker arrangement step S120: 3D scanning step S130: Correction step S210: Marker arrangement step S220: 3D scanning step S230: Correction step S240: Detection step

Claims

1. A method for manufacturing 3D data, comprising: a marker arrangement step of arranging three markers so that their heights are aligned; a 3D scanning step of 3D scanning each of the three markers and an object; a correction step of correcting the inclination of the 3D data with respect to the horizontal direction by rotating the coordinate axis of the 3D data of the object obtained by 3D scanning so that the Z coordinates of the three markers coincide with each other around the coordinate of one of the three 3D-scanned markers; A method for manufacturing 3D data, comprising the above steps.

2. The method for manufacturing 3D data according to Claim 1, wherein the three markers are each a checkerboard.

3. The method for manufacturing 3D data according to Claim 1, wherein, in the marker arrangement step, the heights of the three markers are adjusted using surveying equipment.

4. The method for manufacturing 3D data according to Claim 3, wherein the surveying equipment is an auto level or a tilting level.

5. An inclination detection method, comprising: a marker arrangement step of arranging three markers so that their heights are aligned; a 3D scanning step of 3D scanning each of the three markers and an object; a correction step of correcting the inclination of the 3D data with respect to the horizontal direction by rotating the coordinate axis of the 3D data of the object obtained by 3D scanning so that the Z coordinates of the three markers coincide with each other around the coordinate of one of the three 3D-scanned markers; a detection step of detecting the inclination of the object with respect to a horizontal plane or a vertical plane using a cross-section orthogonal to the horizontal plane or the vertical plane of the 3D data after the correction step; An inclination detection method, comprising the above steps.

6. A program used for manufacturing 3D data, causing at least one processor to execute the following steps: In a correction step, the inclination of the 3D data with respect to the horizontal direction is corrected by rotating the coordinate axis of the 3D data of the object obtained by 3D scanning so that the Z coordinates of the three markers coincide with each other around the coordinate of one of the three markers 3D-scanned in a state where their heights are aligned.

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