Information processing device and information processing program

Abstract

The objective is to obtain an information processing device and information processing program that can more easily convert point cloud data acquired as relative coordinate values ​​into absolute coordinate data compared to conventional technologies. [Solution] The information processing device 10 includes an acquisition unit 11A that acquires point cloud data obtained by 3D imaging an area in which a position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding center line is arranged such that the predetermined reference point of the position image is at a position corresponding to the center line or the offset line of the center line, and a recording unit 11B that records the acquired point cloud data.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus and an information processing program.

Background Art

[0002] Conventionally, three-dimensional photography using a three-dimensional scanner (hereinafter also referred to as a "3D scanner") in the construction industry has been performed for building structures, exteriors, and equipment outdoors, similar to the civil engineering field. In addition, this three-dimensional photography is also performed for building structures, interiors, and equipment in semi-outdoor areas (rooftops hidden by blind walls, dry areas, piloti, etc.) and indoors.

[0003] The point cloud data obtained by this three-dimensional photography using a 3D scanner is used to confirm the site and current situation by a personal computer or the like, and in addition, by overlapping it with a BIM (Building Information Modeling) model, it is used to update design drawings, construction drawings, etc. to highly accurate drawings according to the site conditions.

[0004] Conventionally, in order to overlap an image based on point cloud data and an image based on a BIM model, at least one of the image based on point cloud data and the image based on the BIM model has been manually moved in the three-dimensional direction for overlapping. Therefore, there has been a problem that the accuracy of the overlap varies depending on the skill of a person and the reproducibility is low.

[0005] The following techniques have been available as techniques that can be applied to solve this problem.

[0006] Patent Document 1 discloses a structure management method aimed at appropriately managing BIM or CIM (Construction Information Modeling)-compatible design data based on surveying using a laser scanner.

[0007] This management method includes a design step of placing marker data representing the reference position of a structure in design data that corresponds to BIM or CIM, which represents the structure in three dimensions in a virtual space; a marker placement step of placing a target marker at a position corresponding to the reference position in the design data in the real space where the structure actually exists; a surveying step of placing a laser scanner at a position that includes the location of the target marker within the measurement range, surveying the space around the target marker, and acquiring point cloud data; and a superposition step of a computer device analyzing the point cloud data to identify a point cloud corresponding to the target marker, and comparing the identified point cloud with the marker data to superimpose the point cloud data and the design data.

[0008] Patent Document 2 discloses an information processing device aimed at more easily improving the accuracy of superimposing 3D model data onto captured images while reducing the processing load on measuring instruments.

[0009] This information processing device includes an imaging unit that images a construction site, an acquisition unit that acquires measurement information indicating the position of indicators placed within the construction site, a correspondence unit that associates the position of the indicators in the image captured by the imaging unit with the position of the indicators indicated by the acquired measurement information, and an image generation unit that converts 3D data of a building using the position of the indicators indicated by the measurement information, which has been associated with the position of the indicators by the correspondence unit, and generates an image by superimposing the converted 3D data of the building onto the image captured by the imaging unit. [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] Japanese Patent Publication No. 2023-125097 [Patent Document 2] Patent No. 6733127 [Overview of the project] [Problems that the invention aims to solve]

[0011] However, when applying the technology described in Patent Document 1 to the purpose of overlaying an image from point cloud data with an image from a BIM model, it is necessary to place marker data representing the reference position of the structure within the BIM model. For this reason, this technology has the problem that it is not always possible to easily overlay an image from point cloud data with an image from a BIM model.

[0012] Furthermore, when applying the technology described in Patent Document 2 for the purpose of overlaying images from point cloud data and images from a BIM model, it is necessary to acquire measurement information indicating the positions of indicators placed within the construction site. For this reason, even with this technology, there was a problem in that overlaying images from point cloud data and images from a BIM model could not necessarily be done easily.

[0013] These problems stem from the fact that the coordinate system of point cloud data acquired by 3D scanning differs from that of the BIM model. These issues can be improved by easily aligning the coordinate systems. This applies not only when the image represented by the point cloud data is overlaid onto a BIM model, but also when overlaying the image onto other models such as CAD (Computer-Aided Design) models or CIM models. In the following, the coordinate system in the point cloud data will be referred to as the "relative coordinate system," and the coordinate values ​​of that relative coordinate system will be referred to as "relative coordinate values." Furthermore, in the following, the coordinate system of the model to be overlaid, such as a BIM model, will be referred to as the "absolute coordinate system," and the coordinate values ​​of that absolute coordinate system will be referred to as "absolute coordinate values."

[0014] This disclosure is made in view of the above facts and aims to provide an information processing device and an information processing program that can convert point cloud data acquired as relative coordinate values ​​into absolute coordinate value data more easily than conventional technologies. [Means for solving the problem]

[0015] The information processing device according to claim 1 comprises an acquisition unit that acquires point cloud data obtained by three-dimensionally photographing an area in which a position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding center line is arranged such that a predetermined reference point on the position image is at a position corresponding to the corresponding point on the center line or the offset line of the center line; and a recording unit that records the point cloud data.

[0016] According to the information processing device of the present invention as described in claim 1, a position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding center line is obtained by 3D imaging of an area where a predetermined reference point in the position image is positioned to correspond to the corresponding point on the center line or the offset line of the center line. Point cloud data obtained from this area is acquired and recorded. By utilizing the absolute coordinate position shown by the position image included in the recorded point cloud data, point cloud data acquired as relative coordinate values ​​can be converted into absolute coordinate data more easily than in conventional techniques.

[0017] The information processing apparatus according to claim 2 is the information processing apparatus according to claim 1, further comprising: a detection unit that detects partial point cloud data which is point cloud data corresponding to the region of the position image from the point cloud data; and a conversion unit that converts the relative coordinate position of the point cloud data such that the relative coordinate position of the reference point of the partial point cloud data becomes the absolute coordinate position of the position corresponding to the corresponding point shown in the position image shown by the partial point cloud data.

[0018] According to the information processing apparatus of the present invention as described in claim 2, partial point cloud data, which is point cloud data corresponding to a region of a position image, is detected from point cloud data, and the relative coordinate position of the point cloud data is converted from relative coordinate data to absolute coordinate data by converting the relative coordinate position of the point cloud data such that the relative coordinate position of the reference point of the partial point cloud data becomes the absolute coordinate position of the position corresponding to the point shown in the position image shown by the partial point cloud data.

[0019] The information processing apparatus according to the present invention described in claim 3 is the information processing apparatus described in claim 1 or claim 2, wherein the acquisition unit acquires point cloud data obtained by three-dimensionally photographing a region in which the plurality of position images are arranged corresponding to the corresponding points of the plurality of different center lines.

[0020] According to the information processing apparatus according to the present invention described in claim 3, by acquiring point cloud data obtained by three-dimensionally photographing a region in which a plurality of position images are arranged corresponding to the corresponding points of a plurality of different center lines, compared with the case where only one position image is arranged, the point cloud data acquired as relative coordinate values can be converted into data of absolute coordinate values with higher accuracy.

[0021] The information processing apparatus according to the present invention described in claim 4 is the information processing apparatus described in any one of claims 1 to 3, wherein the position image is at least one of a two-dimensional code, characters, and symbols.

[0022] According to the information processing apparatus according to the present invention described in claim 4, by using the position image as at least one of a two-dimensional code, characters, and symbols, when the position image is a two-dimensional code, more information can be included in the position image compared to the case where the position image is a one-dimensional code. When the position image is a character or a symbol, compared to the case where the position image is an encoded code such as a one-dimensional code or a two-dimensional code, the absolute coordinate position indicated by the position image can be made easier for the user to understand. As a result, the convenience for the user can be improved.

[0023] The information processing program according to the present invention described in claim 5 causes a computer to execute a process of acquiring point cloud data obtained by three-dimensionally photographing a region in which a position image indicating the absolute coordinate position of a predetermined corresponding point on a corresponding center line is arranged such that a predetermined reference point of the position image is at a position corresponding to the corresponding point on the center line or a margin of the center line, and recording the point cloud data.

[0024] According to the information processing program of the present invention described in claim 5, a position image indicating the absolute coordinate position of a predetermined corresponding point on the corresponding center line is obtained by three-dimensionally photographing an area where a predetermined reference point of the position image is arranged at a position corresponding to the corresponding point on the center line or the escape ink of the center line, and the obtained point cloud data is recorded. By using the absolute coordinate position indicated by the position image included in the recorded point cloud data, it is possible to more easily convert the point cloud data obtained as relative coordinate values into data of absolute coordinate values as compared with the conventional technology.

Effect of the Invention

[0025] As described above, according to the present invention, it is possible to more easily convert the point cloud data obtained as relative coordinate values into data of absolute coordinate values as compared with the conventional technology.

Brief Description of the Drawings

[0026] [Figure 1] It is a block diagram showing an example of the hardware configuration of the information processing system according to the embodiment. [Figure 2] It is a perspective view showing an example of the configuration of the 3D scanner according to the embodiment. [Figure 3] It is a block diagram showing an example of the functional configuration of the information processing apparatus according to the embodiment. [Figure 4] It is a schematic diagram showing an example of the configuration of the scan information database according to the embodiment. [Figure 5] It is a plan view showing an example of the photographing situation by the 3D scanner according to the embodiment. [Figure 6] It is a flowchart showing an example of information processing according to the embodiment. [Figure 7] It is a front view showing an example of the conventional superimposed display screen. [Figure 8] It is a front view showing an example of the superimposed display screen according to the embodiment. [Figure 9]This figure illustrates another example of information processing according to the embodiment, and is a plan view showing an example where a positional image is placed on a grid line. [Modes for carrying out the invention]

[0027] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

[0028] First, the configuration of the information processing system 90 according to this embodiment will be described with reference to Figures 1 to 3. Figure 1 is a block diagram showing an example of the hardware configuration of the information processing system 90 according to this embodiment. Figure 2 is a perspective view showing an example of the configuration of the 3D scanner 50 according to this embodiment. Furthermore, Figure 3 is a block diagram showing an example of the functional configuration of the information processing device 10 according to this embodiment.

[0029] As shown in Figure 1, the information processing system 90 according to this embodiment is configured to include an information processing device 10 and a 3D scanner 50. Examples of the information processing device 10 include general-purpose or dedicated information processing devices such as personal computers and server computers.

[0030] The information processing device 10 according to this embodiment includes a CPU (Central Processing Unit) 11, a memory 12 as a temporary storage area, a non-volatile storage unit 13, an input unit 14 such as a keyboard and mouse, a display unit 15 such as a liquid crystal display, a media read / write (R / W) device 16, and a communication interface (I / F) unit 18. The CPU 11, memory 12, storage unit 13, input unit 14, display unit 15, media read / write device 16, and communication I / F unit 18 are connected to each other via bus B. The media read / write device 16 reads information written on the recording medium 17 and writes information to the recording medium 17.

[0031] The storage unit 13 is implemented by an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, etc. The storage unit 13, as a storage medium, stores an information processing program 13A. The information processing program 13A is stored (installed) in the storage unit 13 when the recording medium 17 on which the information processing program 13A is written is set in the media read / write device 16, and the media read / write device 16 reads the information processing program 13A from the recording medium 17. The CPU 11 reads the information processing program 13A from the storage unit 13, loads it into memory 12, and sequentially executes the processes contained in the information processing program 13A.

[0032] Furthermore, the storage unit 13 stores the scan information database 13B and the BIM model 13C. In the information processing system 90 according to this embodiment, a conventionally known BIM model 13C is used.

[0033] In other words, the use of BIM is advancing in the field of architectural design. When architectural designers carry out architectural design work, they proceed with the design work by creating a BIM model that represents a three-dimensional model of the building to be designed.

[0034] By utilizing BIM, objects representing the shape of a building are created in a computer-generated space, and attribute information is assigned to these objects. For example, attribute information may include information about physical properties (specific gravity, material, strength, and rigidity, etc.) or information about costs (e.g., 1m 2 It becomes possible to link unit costs and construction costs (such as per unit) to objects. Therefore, for example, by linking a BIM model with various analysis tools, structural analysis and thermal load analysis can be performed automatically according to the BIM model.

[0035] Since the BIM model is already known, further detailed explanation will be omitted. Details regarding the scan information database 13B will be discussed later.

[0036] On the other hand, as shown in Figure 1, the 3D scanner 50 according to this embodiment is configured to include a scanner body 52 and a storage unit 58. Although not shown in the figures, the 3D scanner 50 according to this embodiment also includes a motor for changing the shooting direction of the scanner body 52 when performing three-dimensional imaging with the scanner body 52, and a control unit for controlling the operation of the motor, the scanner body 52, and other parts.

[0037] As shown in Figure 2, the 3D scanner 50 according to this embodiment has a scanner body 52 mounted on the upper part of a tripod-shaped leg 60, and the scanner body 52 is positioned on the upper part of the leg 60, and the shooting direction can be changed by the drive of the motor described above. It goes without saying that the leg 60 is not limited to a tripod.

[0038] The 3D scanner 50 according to this embodiment is a so-called time-of-flight type, which emits a laser from the scanner body 52, calculates the distance from the time it takes for the laser to reflect off the object and return, and calculates the laser emission angle from the direction of movement of the scanner body 52, and uses these calculated values ​​to determine the three-dimensional position. However, the method of determining the three-dimensional position by the 3D scanner 50 is not limited to this. For example, the scanner body 52 may emit multiple modulated lasers, determine the distance to the object from the phase difference of the diffuse reflection component that hits the object and returns, and determine the three-dimensional position from this distance and the laser emission angle, using a so-called phase-shift type, which may be applied as the 3D scanner 50.

[0039] Furthermore, in the 3D scanner 50 according to this embodiment, the point cloud data acquired includes coordinate information indicating the coordinates of the three-dimensional position of each point, reflection intensity information indicating the reflection intensity of the laser at the corresponding point, and color information indicating the color of the corresponding point. In the 3D scanner 50 according to this embodiment, the acquired coordinate information, reflection intensity information, and color information are associated with and stored for each point in the point cloud data. However, this is not the only form; for example, the point cloud data may only store the coordinate information, or it may store a combination of the coordinate information and either the reflection intensity information or the color information as the point cloud data.

[0040] In this embodiment, the information processing system 90 transmits various information stored in the storage unit 58 of the 3D scanner 50 to the information processing device 10 via wired communication, but it is not limited to this. For example, the information stored in the storage unit 58 of the 3D scanner 50 may be transmitted to the information processing device 10 via wireless communication. Alternatively, the storage unit 58 may be a portable storage medium that can be attached to and detached from the 3D scanner 50, and the information stored in the storage unit 58 of the 3D scanner 50 may be transferred to the information processing device 10 via this storage medium. Furthermore, the system is not limited to directly transmitting the information stored in the storage unit 58 of the 3D scanner 50 to the information processing device 10; for example, it may be transmitted to the information processing device 10 via a cloud server.

[0041] Next, with reference to Figure 3, the functional configuration of the information processing device 10 according to this embodiment will be described. As shown in Figure 3, the information processing device 10 according to this embodiment includes an acquisition unit 11A, a recording unit 11B, a detection unit 11C, a conversion unit 11D, and a display control unit 11E. The CPU 11 of the information processing device 10 executes an information processing program 13A, and so on, thereby enabling the CPU 11 to function as the acquisition unit 11A, the recording unit 11B, the detection unit 11C, the conversion unit 11D, and the display control unit 11E.

[0042] The acquisition unit 11A according to this embodiment acquires point cloud data (hereinafter simply referred to as "point cloud data") obtained by three-dimensionally photographing an area where a position image (hereinafter simply referred to as "position image") showing the absolute coordinate position of a predetermined corresponding point (hereinafter simply referred to as "corresponding point") on a corresponding grid line, and a predetermined reference point (hereinafter simply referred to as "reference point") on the position image are positioned to correspond to the corresponding point on the grid line or the offset line of the grid line. The recording unit 11B according to this embodiment then records the point cloud data acquired by the acquisition unit 11A.

[0043] In this embodiment, it is assumed that 3D imaging is performed when columns, walls, etc., have already been constructed in the target building. Therefore, it is not possible to place the positional image at a location corresponding to a point on the grid line itself. For this reason, in this embodiment, the position where the positional image is placed is set to a location corresponding to a point on the offset line of the grid line.

[0044] Furthermore, while this embodiment uses a two-dimensional code such as a QR code (registered trademark) as the location image, it is not limited to this. For example, a one-dimensional code such as a barcode may be used as the location image, or information that can represent absolute coordinate positions as an image, such as characters or symbols, may be used as the location image, not limited to these one-dimensional and two-dimensional codes or other encoded codes.

[0045] Furthermore, in this embodiment, the positional image is applied as an image printed on a plastic plate, but this is not the only option. For example, an image printed on a metal plate may be used as the positional image.

[0046] Furthermore, the detection unit 11C according to this embodiment detects partial point cloud data, which is point cloud data corresponding to the region of the location image, from the point cloud data recorded by the recording unit 11B.Then, the conversion unit 11D according to this embodiment converts the relative coordinate position of the point cloud data so that the relative coordinate position of the reference point of the partial point cloud data detected by the detection unit 11C becomes the absolute coordinate position of the position corresponding to the corresponding point shown in the location image shown by the partial point cloud data.

[0047] Here, the absolute coordinate position represents the coordinate position in the coordinate system of the BIM model 13C, and the relative coordinate position represents the coordinate position in the coordinate system of the point cloud data. Therefore, the transformation by the transformation unit 11D can convert the relative coordinate position in the point cloud data to the absolute coordinate position in the BIM model 13C.

[0048] Thus, in this embodiment, in order to align the coordinate system of the point cloud data with the coordinate system of the BIM model 13C, the relative coordinate position of the reference point of the partial point cloud data is described in which the relative coordinate position of the point cloud data is transformed so that it becomes the absolute coordinate position of the position corresponding to the corresponding point shown in the position image shown by the partial point cloud data. However, this is not the only method. For example, the relative coordinate position of the reference point of the partial point cloud data may be transformed to the relative coordinate position at the corresponding point, and then the relative coordinate position of the point cloud data may be transformed so that the relative coordinate position becomes the absolute coordinate position of the corresponding point itself shown in the position image shown by the partial point cloud data, thereby aligning the coordinate system of the point cloud data with the coordinate system of the BIM model 13C.

[0049] In this embodiment, the acquisition unit 11A acquires point cloud data obtained by 3D imaging a region in which multiple positional images are arranged corresponding to the corresponding points of multiple different grid lines. This allows for the conversion of point cloud data acquired as relative coordinate values ​​into absolute coordinate data with higher accuracy compared to the case where only one positional image is applied.

[0050] Furthermore, the display control unit 11E according to this embodiment controls the display unit 15 to display an image obtained by superimposing an image of point cloud data, in which relative coordinate positions have been converted to absolute coordinate positions by the conversion unit 11D, and an image shown by the BIM model 13C. The BIM model 13C according to this embodiment has information indicating the positions of grid lines and escape lines (hereinafter referred to as "grid line related information") registered in it, and the superimposition of the above images is performed using this grid line related information.

[0051] Next, the scan information database 13B according to this embodiment will be described with reference to Figure 4. Figure 4 is a schematic diagram showing an example of the configuration of the scan information database 13B according to this embodiment.

[0052] As shown in Figure 4, the scan information database 13B according to this embodiment stores coordinate, reflectance, and color information in association with each other.

[0053] The above coordinates are the coordinate information described above, indicating the coordinates of the position of each point obtained by three-dimensional imaging by the 3D scanner 50; the above reflection intensity is the above reflection intensity information for the corresponding point; and the above color is the above color information for the corresponding point. In other words, the scan information database 13B according to this embodiment stores point cloud data of coordinate information, reflection intensity information, and color information obtained by three-dimensional imaging by the 3D scanner 50.

[0054] Next, the operation of the information processing system 90 according to this embodiment will be explained with reference to Figures 5 to 8. Figure 5 is a plan view showing an example of the shooting situation by the 3D scanner according to this embodiment. Figure 6 is a flowchart showing an example of information processing according to this embodiment.

[0055] The photographer performing the 3D imaging creates position images for each location to be placed, showing the absolute coordinate position of the corresponding point (in this embodiment, the intersection of mutually orthogonal grid lines) and information for identifying the corresponding point (hereinafter referred to as "identification information"). In the following, in order to avoid confusion, as an example, we will describe the case in which position images 70A to 70C, which are placed individually at three locations, are applied as position images, as shown in Figure 5. Furthermore, in the following, we will describe the case in which information that has been pre-assigned to each of the intersection points C of mutually orthogonal grid lines and registered in the BIM model 13C is applied as identification information.

[0056] Next, as shown in Figure 5, the photographer positions the position image 70A such that its reference point (in this embodiment, the upper left corner point in the plan view of the position image 70A) R coincides with the intersection point P1 of the offset line 84X1 of the X-axis centerline 82X1 and the offset line 84Y1 of the Y-axis centerline 82Y1 inside the target building (hereinafter referred to as the "target building") 80. The position image 70A positioned at this time is a position image that shows the absolute coordinate position of the intersection point C of the centerline 82X1 and the centerline 82Y1, and specific information for identifying the intersection point C. Similarly, the photographer positions the position image 70B such that its reference point R coincides with the intersection point P2 of the offset line 84X2 of the X-axis centerline 82X2 and the offset line 84Y1. Furthermore, the photographer positions the position image 70C such that its reference point R coincides with the intersection point P3 of the escape line 84X1 and the escape line 84Y2 of the Y-axis centerline 82Y2.

[0057] In the following, when location images 70A to 70C are described without distinction, they will be collectively referred to as "location image 70". Also, in the following, when grid lines 82X1, 82X2, 82Y1, and 82Y2 are described without distinction, they will be collectively referred to as "grid line 82". Also, in the following, when relief lines 84X1, 84X2, 84Y1, and 84Y2 are described without distinction, they will be collectively referred to as "relief lines 84". Furthermore, in the following, when intersections P1 to P3 are described without distinction, they will be collectively referred to as "intersection P". As shown in Figure 5, at this point, columns 86 and walls 88 have already been constructed on the target building 80, and as mentioned above, it is not possible to place location image 70 at intersection C on grid line 82, i.e., the corresponding point.

[0058] As described above, this embodiment explains the case where the position image 70 is placed at each of the three intersection points P of the relief lines 84, but it is not limited to this. For example, the position image 70 may be placed at one or two locations, or at four or more intersection points P. Also, in the example shown in Figure 5, the position image 70 is positioned to the lower right of the target intersection point P, but it is not limited to this, and the horizontal angle of the position image 70 is not particularly limited as long as the position of the reference point R coincides with the position of the intersection point P.

[0059] Once the position images 70 are positioned as described above, the photographer uses the 3D scanner 50 to perform 3D imaging on the area that they want to overlay on the image shown by the BIM model 13C of the target building 80, and which includes all of the position images 70 (hereinafter referred to as the "3D imaging area").

[0060] This 3D imaging process provides the aforementioned coordinate information, reflection intensity information, and color information of the 3D imaging area, which are temporarily stored in the storage unit 58.

[0061] Subsequently, the photographer transmits the coordinate information, reflectivity information, and color information stored in the 3D scanner 50 to the information processing device 10.

[0062] When each of the above pieces of information is transmitted from the 3D scanner 50, the acquisition unit 11A of the information processing device 10 acquires the information by receiving it, and temporarily stores the acquired information in its original form in a predetermined area of ​​the storage unit 13. Then, the recording unit 11B of the information processing device 10 combines the information into a single piece of information as point cloud data representing the target building 80, and records it in the scan information database 13B.

[0063] In this state, the user of the information processing device 10 gives an instruction to start the execution of the information processing program 13A via the input unit 14. In response to this instruction, the CPU 11 of the information processing device 10 executes the information processing program 13A, thereby performing the information processing shown in Figure 6.

[0064] In step 100 of Figure 6, the CPU 11 reads each piece of information from the BIM model 13C from the storage unit 13. In step 102, the CPU 11 reads all the information (hereinafter referred to as "scan information") from the scan information database 13B.

[0065] In step 104, the CPU 11 detects point cloud data for each of the multiple (three in this embodiment) location images 70 from the read scan information. This detection of point cloud data can be performed using conventionally known image recognition techniques with respect to color information or reflectance intensity information in the scan information. The point cloud data corresponding to each of the location images 70 detected here corresponds to the partial point cloud data described above, and hereafter, this point cloud data will be referred to as "partial point cloud data".

[0066] In step 106, the CPU 11 decodes the image shown by each partial point cloud data (in this embodiment, the image shown is the color information and the image showing the two-dimensional code) to identify the absolute coordinate position of the corresponding point corresponding to the placement position of each position image 70. Then, the CPU 11 converts the identified absolute coordinate position of the corresponding point to the coordinate position of the corresponding intersection point P to identify the absolute coordinate position of each intersection point P. Note that in order to convert the absolute coordinate position of the corresponding point to the absolute coordinate position of the corresponding intersection point P, distances a and b between the grid line 82 and the corresponding escape line 84 are required, as shown in Figure 5 as an example, but these distances can be obtained from the BIM model 13C. Furthermore, the identification of the corresponding point corresponding to the placement position of each position image 70 can be performed using the identification information obtained by the above decoding.

[0067] In step 108, the CPU 11 uses the scan information to determine the relative coordinate positions of each reference point R in the image represented by each partial point cloud data, i.e., in each positional image 70.

[0068] In step 110, the CPU 11 transforms all coordinate information in the scan information so that the relative coordinate positions obtained by the processing in step 108 become the absolute coordinate positions of each intersection point P obtained by the processing in step 106. In this embodiment, the transformation of coordinate information is performed as follows. Note that, in order to avoid confusion, the case in which the resolution of the image shown by the scan information and the image shown by the BIM model 13C are the same will be described here.

[0069] First, the CPU 11 derives the amount and direction of the displacement between the relative coordinate position of a reference point R in any one of the position images 70 and the absolute coordinate position of the intersection point P corresponding to that reference point R. Then, the CPU 11 performs a transformation that moves the coordinate information of all points in the scan information by the derived displacement amount in the opposite direction of the derived displacement.

[0070] Thus, in this embodiment, the conversion of coordinate information in scan information to an absolute coordinate system is performed using information obtained from a single position image 70, but this is not the only method. For example, the conversion of coordinate information in scan information to an absolute coordinate system may be performed using information obtained from multiple position images 70. In this case, multiple sets of displacement amounts and displacement directions will be obtained, but in this case, for example, a method of coordinate transformation can be illustrated by applying the average value of the multiple sets of displacement amounts and the average direction of the multiple sets of displacement directions, similar to the method described above.

[0071] In step 112, the CPU 11 uses the scan information converted to absolute coordinate system information through the above processing and the grid line-related information in the BIM model 13C to control the display unit 15 to display an image created by superimposing the image from the scan information (point cloud data) and the image shown in the BIM model 13C. An example of how to superimpose the above images will be described in detail below.

[0072] First, the CPU 11 derives a first straight line representing the escape line 84X1, which connects the reference point R of position image 70A and the reference point R of position image 70C in the scan information, and a second straight line representing the escape line 84Y1, which connects the reference point R of position image 70A and the reference point R of position image 70B.

[0073] Next, the CPU 11 adjusts the orientation of the image shown by the read scan information (point cloud data) so that the derived first and second lines overlap with the corresponding escape lines 84 in the BIM model 13C. This adjustment of the image orientation is performed, for example, by rotating or moving the image. Then, the CPU 11 controls the display unit 15 to display a screen (hereinafter referred to as the "overlay display screen") that shows an image in which the adjusted image and the image shown in the BIM model 13C are superimposed. In step 114, the CPU 11 waits until predetermined information is input.

[0074] Figure 7 shows a front view illustrating an example of a conventional overlay display screen. Figure 8 also shows a front view illustrating an example of an overlay display screen according to this embodiment.

[0075] As an example, as shown in Figure 7, in conventional overlay display screens, the image represented by point cloud data often does not match the image from the BIM model in terms of position, angle, etc., in addition to the coordinate system. Therefore, it was necessary to manually adjust the orientation of the image from point cloud data on the displayed overlay display screen. As mentioned above, this adjustment had problems such as variations in the accuracy of the overlay depending on the skill of the person making the adjustment, and low reproducibility.

[0076] In contrast, as shown in Figure 8 as an example, in the overlay display screen according to this embodiment, the image is displayed with the coordinate system transformation of the point cloud data and the adjustment of the image orientation based on the point cloud data performed automatically, making it easier to obtain the final overlay display screen.

[0077] In addition, due to discrepancies between the position corresponding to the grid line (position of intersection point P) and the position of the reference point R in the position image 70, a discrepancy may occur between the image from the BIM model and the image shown by the point cloud data even after the adjustments according to this embodiment have been made. However, even in this case, the amount of discrepancy is small, so the final superimposed display screen can be obtained more easily compared to conventional techniques.

[0078] For example, when the overlay display screen shown in Figure 8 is displayed on the display unit 15, the user confirms the displayed overlay display screen and then specifies the exit button 15E via the input unit 14. When the user specifies the exit button 15E, step 114 is determined to be positive and this information processing ends.

[0079] As described above, the information processing device 10 according to this embodiment acquires point cloud data obtained by 3D imaging of an area where a position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is arranged such that the predetermined reference point of the position image is at a position corresponding to the corresponding point on the grid line or the offset line of the grid line, and records the point cloud data. Therefore, by utilizing the absolute coordinate position shown by the position image included in the recorded point cloud data, it is possible to convert point cloud data acquired as relative coordinate values ​​into absolute coordinate value data more easily than with conventional techniques.

[0080] Furthermore, according to the information processing device 10 of this embodiment, partial point cloud data, which is point cloud data corresponding to the region of a position image, is detected from the point cloud data, and the relative coordinate position of the point cloud data is converted so that the relative coordinate position of the reference point in the partial point cloud data becomes the absolute coordinate position of the position corresponding to the point shown in the position image shown by the partial point cloud data.Therefore, point cloud data can be converted from relative coordinate data to absolute coordinate data.

[0081] Furthermore, according to the information processing device 10 of this embodiment, multiple position images are used to acquire point cloud data obtained by 3D imaging of areas where multiple different centerlines are placed corresponding to the corresponding points mentioned above. Therefore, compared to the case where only one position image is used, the point cloud data acquired as relative coordinate values ​​can be converted to absolute coordinate data with higher accuracy.

[0082] Furthermore, according to the information processing device 10 of this embodiment, the position image is used as a two-dimensional code. Therefore, compared to the case where the position image is used as a one-dimensional code, more information can be included in the position image.

[0083] In the above embodiment, the case in which the position image 70 is positioned such that the reference point R of the position image 70 coincides with the position corresponding to the corresponding point in the escape line 84 was described, but the embodiment is not limited to this. For example, as shown in Figure 9, the position image 70 may be positioned such that the reference point R of the position image 70 coincides with the intersection C (i.e., the corresponding point) of the grid lines 82. In this case, in the processing of step 106 in the information processing shown in Figure 6, the absolute coordinate position of each corresponding point is not converted to the coordinate of the position of the corresponding intersection P. Instead, in the processing of step 110, the coordinate information in the scan information should be converted so that the relative coordinate position of the reference point R obtained by the processing of step 108 becomes the absolute coordinate position of the corresponding point obtained by the processing of step 106.

[0084] Furthermore, although the above embodiments described the case in which grid lines in two directions, the X-axis direction and the Y-axis direction of the BIM model, are applied as grid lines in this disclosure, the disclosure is not limited to this. For example, the grid line in the Z-axis direction (height direction) of the BIM model may be applied as the grid line in this disclosure.

[0085] Furthermore, while the above embodiments have described cases where the position image 70 is placed in accordance with the intersection of two relief lines 84 in the X-axis and Y-axis directions, or the intersection of two grid lines 82 in the X-axis and Y-axis directions, the embodiment is not limited to these cases. For example, the position image 70 may be placed and applied at a position other than the intersection of one relief line 84 or one grid line 82.

[0086] Furthermore, while the above embodiment describes the case where an image based on point cloud data is overlaid with an image based on a BIM model, it is not limited to this, and it is not always necessary to overlay an image based on point cloud data with an image based on a BIM model.

[0087] Furthermore, although the above embodiment describes the case in which the upper left corner point of the position image 70 is applied as the reference point for the present disclosure, the invention is not limited to this. For example, other corner points such as the upper right corner point of the position image 70 may be applied as the reference point, or the midpoint of any side of the position image 70 may be applied as the reference point.

[0088] Furthermore, although the above embodiment describes a case in which the relative coordinate system of point cloud data is converted to an absolute coordinate system in an information processing device 10 configured separately from the 3D scanner 50, the embodiment is not limited to this. For example, the 3D scanner 50 may be used to convert the relative coordinate system of point cloud data to an absolute coordinate system. In this embodiment, the absolute coordinate positions of two or three corresponding points obtained from the point cloud data may be used to adjust the orientation of the image shown by the point cloud data relative to the image shown by the BIM model.

[0089] Furthermore, although the above embodiment described a case in which only the absolute coordinate position and specific information of the corresponding point are applied as information shown in the location image 70, the invention is not limited to this. For example, in addition to the absolute coordinate position and specific information, the values ​​of distance a and distance b shown in Figure 5 may also be applied as information shown in the location image 70. In this case, it becomes unnecessary to identify distance a and distance b from the BIM model 13C.

[0090] Furthermore, if there is only one corresponding point to which the information is applied, the location image 70 may be configured to apply only information indicating the absolute coordinate position of the corresponding point, or it may be configured to apply information indicating the absolute coordinate position and the values ​​of distance a and distance b.

[0091] Furthermore, in the above embodiment, for example, the hardware structure of the processing unit that executes the acquisition unit 11A, the recording unit 11B, the detection unit 11C, the conversion unit 11D, and the display control unit 11E can be any of the following types of processors. As mentioned above, these types of processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as a processing unit, as well as programmable logic devices (PLDs), such as FPGAs (Field-Programmable Gate Arrays), which are processors whose circuit configuration can be changed after manufacturing, and dedicated electrical circuits, such as ASICs (Application Specific Integrated Circuits), which are processors with circuit configurations specifically designed to execute specific processes.

[0092] The processing unit may consist of one of these various processors, or it may consist of a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Alternatively, the processing unit may consist of a single processor.

[0093] Examples of configuring a processing unit with a single processor include, firstly, a configuration where one or more CPUs and software combine to form a single processor, as is common in client and server computers, and this processor functions as the processing unit. Secondly, a configuration using a processor that realizes the functions of the entire system, including the processing unit, on a single IC (Integrated Circuit) chip, as is common in System-on-a-Chip (SoC) systems. Thus, the processing unit is configured, in terms of hardware structure, using one or more of the above-mentioned types of processors.

[0094] Furthermore, the hardware structure of these various processors can more specifically utilize electrical circuits, which are combinations of circuit elements such as semiconductor devices. [Explanation of Symbols]

[0095] 10 Information Processing Devices 11 CPU 11A Acquisition Department 11B Recording Section 11C Detection Unit 11D conversion unit 11E Display Control Unit 12 memory 13 Storage section 13A Information Processing Program 13B Scan Information Database 13C BIM model 14 Input section 15 Display 15E Exit button 16. Media reading / writing device 17 Recording media 18 Communication I / F Section 50 3D scanners 52 Scanner body 58 Memory section 60 Legs 70, 70A, 70B, 70C position image 80 Target Buildings 82, 82X1, 82X2, 82Y1, 82Y2 grid lines 84, 84X1, 84X2, 84Y1, 84Y2 Escape ink 86 pillars 88 Wall 90 Information Processing Systems a, b distance C Intersection (corresponding point) P, P1~P3 intersection R reference point

Claims

1. An acquisition unit acquires point cloud data obtained by three-dimensionally photographing an area in which a position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is arranged such that a predetermined reference point in the position image is at a position corresponding to the said corresponding point on the grid line or the offset line of the grid line. A recording unit for recording the aforementioned point cloud data, Equipped with an information processing device.

2. A detection unit that detects partial point cloud data, which is point cloud data corresponding to the region of the position image, from the point cloud data, A transformation unit that transforms the relative coordinate position of the point cloud data so that the relative coordinate position of the reference point in the partial point cloud data becomes the absolute coordinate position of the position corresponding to the corresponding point shown in the position image shown by the partial point cloud data, The information processing apparatus according to claim 1, further comprising the above.

3. The acquisition unit acquires point cloud data obtained by three-dimensionally capturing regions in which multiple position images are arranged corresponding to the corresponding points of multiple different grid lines. The information processing apparatus according to claim 1 or claim 2.

4. The aforementioned positional image is at least one of the following: a two-dimensional code, a character, and a symbol. The information processing apparatus according to claim 1 or claim 2.

5. A position image showing the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is obtained by 3D imaging of an area where a predetermined reference point in the position image is positioned to correspond to the said corresponding point on the grid line or the offset line of the grid line, and point cloud data is obtained from that area. The aforementioned point cloud data is recorded, An information processing program that instructs a computer to perform a task.

Images