Three-dimensional restoration image manufacture program, three-dimensional restoration image manufacture device, three-dimensional restoration image manufacture method, and recording medium

Abstract

To provide a three-dimensional restoration image manufacture program capable of achieving both of efficiency of data collection and accuracy of a restoration model, in three-dimensional restoration.SOLUTION: A three-dimensional restoration image manufacture program includes an exception reference detection procedure, an image exception procedure, and a restoration image output procedure. The exception reference detection procedure detects exception reference from an omnidirectional image. The exception reference is an object included in an image coupling area of the omnidirectional image. The image exception procedure excludes a predetermined area on the basis of the exception reference, from the omnidirectional image. The restoration image output procedure outputs an image from which the predetermined area has been excluded, as a three-dimensional restoration image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a program for producing an image for three-dimensional restoration, an apparatus for producing an image for three-dimensional restoration, a method for producing an image for three-dimensional restoration, and a recording medium. [Background technology]

[0002] There is known a spherical image capturing system that can display an entire celestial sphere (the entire celestial sphere) on a display device such as a monitor by combining images captured by a plurality of wide-angle cameras. For example, Patent Document 1 discloses a spherical image capturing system that includes an imaging means, an image combining unit that creates spherical frame data, an attitude detecting means that detects attitude information of the imaging means, a correction amount calculating unit that creates correction amount data for converting coordinates of the spherical frame data based on the attitude information, and an associating means that associates the spherical frame data with the correction amount data to obtain a spherical image, wherein the correction amount calculating unit creates the correction amount data for correcting tilt of the spherical frame data with respect to the vertical direction in global coordinates and correcting shaking within a horizontal plane in global coordinates by excluding minute shaking components. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-061770 Summary of the Invention [Problem to be solved by the invention]

[0004] In the field of computer graphics, there is a technology called three-dimensional restoration that uses images captured by a camera to generate a three-dimensional model of the captured object. In three-dimensional restoration, images for restoration can be efficiently collected by capturing images of the object to be restored using a spherical camera (360-degree camera). However, a spherical image is generated by synthesizing multiple images. Therefore, distortion occurs at the stitched portions of the images. If three-dimensional restoration of the object is performed using the distorted area, the distortion will affect the restored model. Therefore, three-dimensional restoration poses a challenge in that it is difficult to achieve both efficient data collection and high accuracy in the restored model.

[0005] Therefore, the present disclosure aims to provide an image production program for three-dimensional restoration, an image production device for three-dimensional restoration, an image production method for three-dimensional restoration, and a recording medium that can achieve both efficient data collection and accuracy of the restored model in three-dimensional restoration. [Means for solving the problem]

[0006] In order to achieve the above object, the three-dimensional reconstruction image production program of the present disclosure includes: The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; This is a 3D restoration image production program for causing a computer to execute each of the above procedures.

[0007] The three-dimensional restoration image production device of the present disclosure includes: An exclusion criteria detection unit, an image exclusion unit, and a restoration image output unit, the exclusion criterion detection unit detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion unit excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output unit outputs the image from which the predetermined region has been removed as a three-dimensional restoration image.

[0008] The method for producing a three-dimensional reconstruction image according to the present disclosure includes: The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the exclusion criterion detection step detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output step outputs the image from which the predetermined region has been excluded as a three-dimensional restoration image. This is a method for producing an image for three-dimensional reconstruction, in which each of the steps is executed by a computer.

[0009] The recording medium of the present disclosure includes: The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; A computer-readable recording medium storing a program for producing an image for three-dimensional reconstruction for causing a computer to execute each of the above procedures. [Effects of the Invention]

[0010] According to the present disclosure, efficient data collection and high accuracy of the reconstructed model can be achieved in three-dimensional reconstruction. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an example of a three-dimensional restoration image production device according to the present disclosure. [Figure 2] FIG. 2 is a block diagram showing an example of the hardware configuration of the three-dimensional restoration image production device of the present disclosure. [Figure 3] FIG. 3 is a flowchart showing an example of processing in the three-dimensional restoration image production device of the present disclosure. [Figure 4] FIG. 4 is a schematic diagram for explaining the processing of the three-dimensional restoration image production device of the present disclosure. [Figure 5] FIG. 5 is a photograph for explaining a specific example of processing by the 3D restoration image production device of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The present disclosure is not limited to the following embodiments. In the following drawings, the same parts are denoted by the same reference numerals. Furthermore, the descriptions of the embodiments can be mutually incorporated unless otherwise specified, and the configurations of the embodiments can be combined unless otherwise specified. It can be obtained.

[0013] [Embodiment 1] The image production program for three-dimensional restoration disclosed herein is a program for causing a computer to execute an exclusion criterion detection procedure, an image exclusion procedure, and a restoration image output procedure. The image production program for three-dimensional restoration disclosed herein can also be said to be a program for causing a computer to function as the exclusion criterion detection procedure, the image exclusion procedure, and the restoration image output procedure. Furthermore, the image production program for three-dimensional restoration disclosed herein can also be said to be a program for causing a computer to execute, for example, each step of the method for producing an image for three-dimensional restoration described below.

[0014] The exclusion criterion detection step detects exclusion criteria from the celestial sphere image, the image exclusion step excludes a predetermined area from the celestial sphere image based on the exclusion criterion, and the image-for-restoration output step outputs the image from which the predetermined area has been excluded as an image for three-dimensional restoration.

[0015] For example, the "procedure" in each step can be read as "processing." The 3D reconstruction image production program of the present disclosure may be recorded on a computer-readable recording medium, for example. The recording medium may be, for example, a non-transitory computer-readable storage medium. The recording medium is not particularly limited, and examples thereof include random access memory (RAM), read-only memory (ROM), hard disk (HD), flash memory (e.g., solid state drive (SSD), USB flash memory, SD / SDHC card, etc.), optical disk (e.g., CD-R / CD-RW, DVD-R / DVD-RW, BD-R / BD-RE, etc.), magneto-optical disk (MO), and floppy disk (FD). The 3D reconstruction image production program of the present disclosure (also referred to as a programming product or program product) may be distributed from an external computer, for example. The "distribution" may be, for example, distribution via a communication network or via a device connected via a wired connection. The image production program for three-dimensional reconstruction of the present disclosure may be installed and executed on the device to which it is distributed, or may be executed without being installed. An information processing device capable of executing the image production program for three-dimensional reconstruction of the present disclosure can be referred to as, for example, the image production device for three-dimensional reconstruction of the present disclosure.

[0016] Next, the configuration of an example of an apparatus for producing an image for three-dimensional restoration according to the present disclosure will be described with reference to FIG. 1. FIG. 1 is a block diagram showing the configuration of an example of an apparatus for producing an image for three-dimensional restoration 10 according to the present embodiment (hereinafter also referred to as "the apparatus"). As shown in FIG. 1, the apparatus 10 includes an exclusion criteria detection unit 11, an image exclusion unit 12, and an image-for-restoration output unit 13. The apparatus 10 may also include, for example, an input unit, an output unit, a display unit, and / or a storage unit, although these are not shown. The exclusion criteria detection unit 11, the image exclusion unit 12, and the image-for-restoration output unit 13 can respectively execute, for example, an exclusion criteria detection procedure, an image exclusion procedure, and an image-for-restoration output procedure in the program for producing an image for three-dimensional restoration according to the present disclosure.

[0017] The device 10 may be, for example, a single device including the above-described units, or a device in which the units can be connected via a communication network. The device 10 can also be connected to an external device (described later) via the communication network. The communication network is not particularly limited and any known network can be used, for example, a wired or wireless network. Examples of the communication network include the Internet, the World Wide Web (WWW), a telephone line, a Local Area Network (LAN), a Storage Area Network (SAN), a Delay Tolerant Networking (DTN), a Low Power Wide Area Network (LPWA), and a Local 5G (L5G). Examples of wireless communication include Wi-Fi (registered trademark), Bluetooth (registered trademark), Local 5G, and LPWA. Examples of the wireless communication include direct communication between devices (Ad Hoc communication), infrastructure communication, and indirect communication via an access point. The device 10 may be incorporated into a server as a system. Furthermore, the present device 10 may be, for example, a personal computer (PC, for example, desktop or notebook type) on which the program of the present disclosure is installed, a smartphone, a tablet terminal, etc. The present device 10 may be in the form of cloud computing or edge computing, for example, in which at least one of the above-mentioned units is located on a server and the other units are located on a terminal.

[0018] 2 shows a block diagram of the hardware configuration of the device 10. The device 10 includes, for example, a central processing unit (CPU, GPU, etc.) 101, a memory 102, a bus 103, a storage device 104, an input device 105, an output device 106, and a communication device 107. The components of the device 10 are connected to each other via the bus 103 and their respective interfaces (I / F).

[0019] The central processing unit 101 cooperates with other components via a controller (such as a system controller or an I / O controller) and is responsible for overall control of the device 10. In the device 10, the central processing unit 101 executes, for example, the program of the present disclosure and other programs, and also reads and writes various types of information. Specifically, for example, the central processing unit 101 functions as an exclusion criteria detection unit 11, an image exclusion unit 12, and a restoration image output unit 13. The device 10 may include, as a computing device, other computing devices such as a CPU, a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), or a combination of these.

[0020] The bus 103 can also be connected to, for example, external devices. Examples of the external devices include a user terminal, an external storage device (such as an external database), a printer, an external input device, an external display device, and an external imaging device. The device 10 can be connected to an external network (the communication line network) by, for example, a communication device 107 connected to the bus 103, and can also be connected to other devices via the external network.

[0021] The memory 102 may be, for example, a main memory (primary storage device). When the central processing unit 101 performs processing, the memory 102 reads various operating programs, such as the program of the present disclosure, stored in the storage device 104 (described later), and the central processing unit 101 receives data from the memory 102 and executes the programs. The main memory may be, for example, a RAM (random access memory). The memory 102 may also be, for example, a ROM (read only memory).

[0022] The storage device 104 is also referred to as an auxiliary storage device, for example, in contrast to the main memory (primary storage device). As described above, the storage device 104 stores an operating program including the program of the present disclosure. The storage device 104 may be, for example, a combination of a recording medium and a drive that reads and writes data from and to the recording medium. The recording medium is not particularly limited and may be, for example, an internal or external type, such as a hard disk (HD), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, or memory card. The storage device 104 may be, for example, a hard disk drive (HDD) or a solid state drive (SSD) in which the recording medium and drive are integrated.

[0023] In the present device 10, the memory 102 and the storage device 104 can also store various information such as log information, information acquired from an external database (not shown) or an external device, information generated by the present device 10, and information used by the present device 10 when executing processing. In this case, the memory 102 and the storage device 104 may store, for example, the above-mentioned information on users of the present device. Note that at least a portion of the information may be stored, for example, in an external server other than the memory 102 and the storage device 104, or may be stored in a distributed manner across multiple terminals using blockchain technology or the like. Furthermore, when the present device 10 includes the storage unit, for example, the memory 102 and the storage device 104 function as the storage unit.

[0024] The device 10 further includes, for example, an input device 105 and an output device 106. Examples of the input device 105 include pointing devices such as a touch panel, track pad, and mouse; a keyboard; imaging means such as a camera and scanner; card readers such as an IC card reader and a magnetic card reader; and audio input means such as a microphone. Examples of the output device 106 include display devices such as an LED display and a liquid crystal display; audio output devices such as a speaker; a printer; and the like. In the first embodiment, the input device 105 and the output device 106 are configured separately, but the input device 105 and the output device 106 may be configured as an integrated device, such as a touch panel display.

[0025] An example of processing by the three-dimensional restoration image production program of the present disclosure will be described in more detail with reference to Fig. 3. Fig. 3 is a flowchart showing an example of each procedure of the three-dimensional restoration image production program of the present disclosure. The three-dimensional restoration image production program of the present disclosure is implemented as follows, for example, using the device 10 of Fig. 1 or Fig. 2 in which the three-dimensional restoration image production program of the present disclosure is installed. Note that implementation of the three-dimensional restoration image production program of this embodiment is not limited to use of the device 10 of Fig. 1 or Fig. 2.

[0026] The exclusion criteria detection unit 11 detects exclusion criteria from the spherical image (S11, exclusion criteria detection step). The spherical image is, for example, an image captured by a spherical camera (also called a 360° camera). The spherical image is captured so that the exclusion criteria are included in the image combination area. The image combination area is an area where an image captured by one wide-angle camera included in the spherical camera and an image captured by the other wide-angle camera are combined when the spherical image is captured. The format of the spherical image is not particularly limited. The spherical image may be, for example, a still image or a video. The spherical image may be, for example, recorded in the storage unit of the device 10 or may be recorded on a recording medium external to the device 10. The exclusion criteria are objects included in the image combination area of ​​the spherical image. The exclusion criterion may be, for example, the subject taking the spherical image, a support rod (e.g., a gimbal) of the spherical camera, or the main body of the spherical camera. The subject taking the image is not particularly limited, and may be, for example, the photographer of the spherical image or various devices (e.g., a drone) equipped with the spherical camera. When the exclusion criterion is the subject taking the image (e.g., the photographer), the spherical image can be captured such that the exclusion criterion is included in the image combination area by directing the camera combination part of the spherical camera toward the photographer and capturing the spherical image. The exclusion criterion detection unit 11 can detect the exclusion criterion from the spherical image by, for example, a known image processing method that detects and tracks a specified object included in an image. Examples of the known image processing method include, but are not limited to, R-CNN (Regional CNN), YOLO (You Only Look Once), SSD (Single Shot MultiBox Detector), and DETR (End-to-End Object Detection with Transformers).

[0027] The image exclusion unit 12 excludes a predetermined area from the celestial sphere image based on the exclusion criterion (S12, image exclusion step). The predetermined area is, for example, at least one of an area in the celestial sphere image that includes the exclusion criterion and an area facing the area in which the exclusion criterion is included. As described above, the exclusion criterion is included in the image combination area of ​​the celestial sphere image, and therefore, both the area in which the exclusion criterion is included and the opposite area include the image combination area of ​​the celestial sphere image. The area in which the exclusion criterion is included is, for example, a portion in the celestial sphere image that includes the exclusion criterion. Specifically, the area in which the exclusion criterion is included is, for example, an area in the celestial sphere image that has a viewing angle centered on the exclusion criterion and starting from an imaging point within a predetermined range. The image exclusion unit 12 can exclude, for example, an area of ​​a predetermined viewing angle that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the celestial sphere image. The field of view angle can be set to an appropriate value depending on the width of the image combination area of ​​the celestial sphere image, the size of the exclusion criterion, the distance between the exclusion criterion and the celestial sphere camera, etc. The field of view angle is not particularly limited and can be set to, for example, 90°, 60°, 30°, etc. The area facing the area including the exclusion criterion is, for example, a portion of the celestial sphere image that includes a position facing the exclusion criterion across an imaging point, with the exclusion criterion as the starting point. Specifically, the area facing the area including the exclusion criterion is, for example, an area whose field of view angle is within a predetermined range, centered on the position facing the exclusion criterion and starting from the imaging point. The field of view angle is not particularly limited and can be set to, for example, 90°, 60°, 30°, etc.

[0028] The image-for-restoration output unit 13 outputs the image from which the predetermined region has been removed as an image for 3D restoration (S13, image-for-restoration output step). The image for 3D restoration is an image to be used for 3D restoration, and its format is not particularly limited. For example, the image-for-restoration output unit 13 may aggregate images from multiple omnidirectional images, excluding predetermined regions from each omnidirectional image, to generate the image for 3D restoration. In this case, the image-for-restoration output unit 13 may, for example, detect a restoration target included in the image and output a set of images including the same restoration target as an image set for 3D restoration of the restoration target. The detection of the restoration target is similar to the image processing method described above. For example, the image-for-restoration output unit 13 may output the image for 3D restoration to the storage unit of the device 10, or may output the image for 3D restoration to the outside of the device 10. In the latter case, the restoration image output unit 13 may, for example, output the image for three-dimensional restoration to a device capable of executing a program for performing three-dimensional restoration, or may output the image for three-dimensional restoration to a database (three-dimensional restoration database) that stores images for three-dimensional restoration.

[0029] The restoration image output unit 13 may, for example, link various other information necessary for three-dimensional restoration together with the three-dimensional restoration image and output the linked information. Examples of the various information necessary for three-dimensional restoration include position information of the omnidirectional camera that captured the omnidirectional image, attitude information of the omnidirectional camera when capturing the omnidirectional image, camera parameters of the omnidirectional camera, and various metadata. The position information of the omnidirectional camera is, for example, information indicating the position of the omnidirectional camera when capturing the omnidirectional image and may be GPS (Global Positioning System) information. Examples of the camera parameters include information such as focal length, lens distortion, and sensor size. The metadata is various information embedded in the omnidirectional image and may include identification information of the omnidirectional camera, capture date and time, GPS coordinates, and the like. The various information may, for example, be acquired from metadata of the omnidirectional camera or image, or may be estimated from the area image. In the latter case, the restoration image output unit 13 may, for example, estimate the information using SfM (Structure from Motion) technology.

[0030] Specific examples of the processing of the exclusion criterion detection unit 11 and the image exclusion unit 12 will be described with reference to FIGS. 4 and 5. FIG. 4 is a top view schematic diagram illustrating a situation in which a celestial sphere image 123 is captured by the celestial sphere camera 121. FIG. 5 is a photograph illustrating an example of the celestial sphere image 123, images excluded by the image exclusion unit 12, and images for three-dimensional reconstruction. In FIGS. 4 and 5, "A," "B," "C," and "D" indicate the same direction from the imaging point 121. In FIG. 4, a double circle 123 indicates a part of the imaging area of ​​the celestial sphere image 123 captured by the celestial sphere camera 121. The photographer (the part indicated by the black circle 122 in FIG. 4) is reflected in the celestial sphere image 123 as the exclusion criterion 122. The exclusion criterion detection unit 11 detects the exclusion criterion 122 from the celestial sphere image. 4(A), the image exclusion unit 12 removes a region within a 90° viewing angle range with the imaging point 121 as the starting point and centered on the exclusion criterion 122, and a region within a 90° viewing angle range with the imaging point 121 as the starting point and centered on a position 124 opposite the exclusion criterion 122. FIG. 4(B) shows a celestial sphere image 123 from which predetermined regions have been removed by the image exclusion unit 12. By performing the processing in this manner, the image production program for 3D restoration according to the present disclosure can output, as images for 3D restoration, images D and B obtained by removing images A and C including the image combination region from the celestial sphere image 123 shown in FIG.

[0031] The method for producing an image for three-dimensional restoration according to the present disclosure is, for example, a method implemented by replacing the "procedures" in the program for producing an image for three-dimensional restoration according to the present disclosure with "processes." Specifically, the method for producing an image for three-dimensional restoration according to the present disclosure includes an exclusion criterion detection process, an image exclusion process, and an image for restoration output process. The exclusion criterion detection process detects an exclusion criterion from a spherical image, and the exclusion criterion is an object included in an image combination area of ​​the spherical image. The image exclusion process excludes a predetermined area from the spherical image based on the exclusion criterion. The image for restoration output process outputs the image from which the predetermined area has been excluded as an image for three-dimensional restoration. The method for producing an image for three-dimensional restoration according to the present disclosure can be implemented, for example, using the apparatus for producing an image for three-dimensional restoration 10 according to the present disclosure shown in FIG. 1 or FIG. 2. Note that the method for producing an image for three-dimensional restoration according to the present disclosure is not limited to a method using the apparatus for producing an image for three-dimensional restoration 10, for example. The method of producing an image for three-dimensional restoration according to the present disclosure can, for example, refer to the description of the program for producing an image for three-dimensional restoration and the apparatus for producing an image for three-dimensional restoration according to the present disclosure.

[0032] The image production program for three-dimensional restoration according to the present disclosure includes an exclusion criterion detection step, an image exclusion step, and a restoration image output step. The exclusion criterion detection step detects exclusion criterion from a celestial sphere image, the exclusion criterion being an object included in an image stitching area of ​​the celestial sphere image. The image exclusion step excludes a predetermined area from the celestial sphere image based on the exclusion criterion. The restoration image output step outputs the image from which the predetermined area has been excluded as an image for three-dimensional restoration. Therefore, according to the image production program for three-dimensional restoration according to the present disclosure, for example, the celestial sphere image can be used for three-dimensional restoration, and distortion (stitching distortion) in the image stitching area of ​​the celestial sphere image can be removed. Therefore, according to the image production program for three-dimensional restoration according to the present disclosure, efficient data collection and high accuracy of the restoration model can be achieved in three-dimensional restoration.

[0033] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0034] <Additional Notes> Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Appendix 1) The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; A three-dimensional reconstruction image production program for causing a computer to execute each of the above procedures. (Appendix 2) the image exclusion procedure excludes, based on the exclusion criterion, an area in the spherical image that includes the exclusion criterion and an area facing the area in which the exclusion criterion is included. (Appendix 3) 3. The image production program for three-dimensional reconstruction according to claim 1, wherein the image exclusion step excludes, as the predetermined region, a region of a predetermined field of view that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image. (Appendix 4) 4. The three-dimensional restoration image production program according to claim 1, wherein the exclusion criterion is the subject of capturing the spherical image. (Appendix 5) 5. The three-dimensional reconstruction image production program according to claim 4, wherein the exclusion criterion is a photographer of the spherical image. (Appendix 6) An exclusion criteria detection unit, an image exclusion unit, and a restoration image output unit, the exclusion criterion detection unit detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion unit excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output unit outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration, in the three-dimensional restoration image production device. (Appendix 7) the image exclusion unit excludes, based on the exclusion criterion, an area in the celestial sphere image that includes the exclusion criterion and an area facing the area in which the exclusion criterion is included. (Appendix 8) 8. The image production device for three-dimensional reconstruction according to claim 6, wherein the image exclusion unit excludes, as the predetermined region, a region of a predetermined field of view that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image. (Appendix 9) 9. The three-dimensional restoration image manufacturing device according to claim 6, wherein the exclusion criterion is the subject of capturing the spherical image. (Appendix 10) 10. The three-dimensional restoration image production device according to claim 9, wherein the exclusion criterion is a photographer of the spherical image. (Appendix 11) The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the exclusion criterion detection step detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output step outputs the image from which the predetermined region has been excluded as a three-dimensional restoration image. A method for producing an image for three-dimensional reconstruction, in which each of the steps is executed by a computer. (Appendix 12) 12. The image production method for three-dimensional reconstruction according to claim 11, wherein the image exclusion step excludes, in the spherical image, a region that includes the exclusion criterion and a region that faces the region that includes the exclusion criterion, based on the exclusion criterion. (Appendix 13) 13. The image production method for three-dimensional reconstruction according to claim 11, wherein the image exclusion step excludes, as the predetermined region, a region of a predetermined field of view that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image. (Appendix 14) 14. The method for producing an image for three-dimensional reconstruction according to any one of appendices 11 to 13, wherein the exclusion criterion is the subject of capturing the spherical image. (Appendix 15) 15. The method for producing an image for three-dimensional reconstruction according to claim 14, wherein the exclusion criterion is a photographer of the spherical image. (Appendix 16) The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; A computer-readable recording medium storing a program for producing an image for three-dimensional reconstruction for causing a computer to execute each of the above procedures. (Appendix 17) 17. The recording medium of claim 16, wherein the image exclusion step excludes, based on the exclusion criterion, a region in the spherical image that includes the exclusion criterion and a region facing the region in which the exclusion criterion is included. (Appendix 18) 18. The recording medium according to claim 16, wherein the image exclusion step excludes, as the predetermined region, a region of a predetermined viewing angle that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image. (Appendix 19) 19. The recording medium according to any one of appendices 16 to 18, wherein the exclusion criterion is the subject of capturing the spherical image. (Appendix 20) 20. The recording medium of claim 19, wherein the exclusion criterion is a photographer of the spherical image. [Industrial Applicability]

[0035] According to the present disclosure, efficient data collection and high accuracy of the reconstructed model can be achieved in three-dimensional reconstruction. Therefore, the present disclosure can be suitably used in fields requiring three-dimensional reconstruction. [Explanation of symbols]

[0036] 10. 3D reconstruction image production device 11 Exclusion criteria detection section 12 Image exclusion section 13. Image output unit for restoration 101 Central Processing Unit 102 memory 103 Bus 104 Storage device 105 Input Device 106 Output Device 107 Communication Devices

Claims

1. The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; A three-dimensional reconstruction image production program for causing a computer to execute each of the above procedures.

2. 2. The three-dimensional reconstruction image production program according to claim 1, wherein the image exclusion procedure excludes, in the spherical image, an area that includes the exclusion criterion and an area that faces the area that includes the exclusion criterion, based on the exclusion criterion.

3. 3. The image production program for three-dimensional reconstruction according to claim 1, wherein the image exclusion procedure excludes, as the predetermined region, a region of a predetermined field of view that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image.

4. 3. The three-dimensional restoration image production program according to claim 1, wherein the exclusion criterion is a subject of capturing the spherical image.

5. 5. The three-dimensional reconstruction image production program according to claim 4, wherein the exclusion criterion is a photographer of the spherical image.

6. An exclusion criteria detection unit, an image exclusion unit, and a restoration image output unit, the exclusion criterion detection unit detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion unit excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output unit outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration, in the three-dimensional restoration image production device.

7. 7. The three-dimensional restoration image manufacturing device according to claim 6, wherein the image exclusion unit excludes, in the spherical image, an area including the exclusion criterion and an area facing the area including the exclusion criterion, based on the exclusion criterion.

8. 8. The image production device for three-dimensional reconstruction according to claim 6, wherein the image exclusion unit excludes, as the predetermined region, a region of a predetermined field of view that includes at least one of the exclusion criterion and a portion facing the exclusion criterion in the spherical image.

9. The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the exclusion criterion detection step detects exclusion criteria from the spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step excludes a predetermined area from the spherical image based on the exclusion criterion; The restoration image output step outputs the image from which the predetermined region has been excluded as a three-dimensional restoration image. A method for producing an image for three-dimensional reconstruction, in which each of the steps is executed by a computer.

10. The method includes an exclusion criteria detection step, an image exclusion step, and an image output step for restoration; the step of detecting an exclusion criterion includes detecting an exclusion criterion from a spherical image; the exclusion criterion is an object included in an image combination area of ​​the celestial sphere image, the image exclusion step includes excluding a predetermined area from the spherical image based on the exclusion criterion; the restoration image output step outputs the image from which the predetermined region has been excluded as an image for three-dimensional restoration; A computer-readable recording medium storing a program for producing an image for three-dimensional reconstruction for causing a computer to execute each of the above procedures.

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