Information processing device and information processing program

Abstract

The objective is to obtain an information processing device and information processing program that can convert point cloud data acquired as relative coordinate values ​​into absolute coordinate data at a lower cost compared to conventional technologies. [Solution] The information processing device 10 includes an acquisition unit 11A that acquires point cloud data obtained by 3D imaging of an area where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on a corresponding center line is located such that the predetermined reference point of the encoded code corresponds to the position of the corresponding point on the center line or the offset line of the center line, and a recording unit 11B that records the acquired point cloud data. The encoded code indicates classification information in which the information indicating the absolute coordinate position of a single corresponding point is divided according to predetermined criteria, and a single corresponding point is represented by multiple encoded codes.

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 on the building structure, exterior, and equipment from the outside, similar to the civil engineering field. In addition, the three-dimensional photography is also performed on the building structure, interior, and equipment in semi-outdoor areas (rooftops hidden by blind walls, dry areas, pilotis, etc.) and indoors.

[0003] The point cloud data obtained by three-dimensional photography using this 3D scanner is used to confirm the site and the 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 the image by the point cloud data and the image by the BIM model, at least one of the image by the point cloud data and the image by the BIM model is manually moved in the three-dimensional direction for overlapping. Therefore, there is a problem that the accuracy of the overlapping 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 method for managing a structure 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 Initiative] [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] Therefore, in order to align the relative coordinate system of the point cloud data with the absolute coordinate system of the other model, a technique can be conceivable in which absolute coordinate values ​​of the position relative to the grid lines common to both the point cloud data and the other model are placed within the real space being 3D-captured. In this state, by identifying the absolute coordinate values ​​of the position relative to the grid lines from the point cloud data obtained by 3D-captured, it becomes possible to convert the relative coordinate values ​​of the point cloud data to absolute coordinate values ​​using these absolute coordinate values.

[0015] However, this technology has a drawback: it requires preparing absolute coordinate values ​​for each location relative to a grid line, which results in high costs. This problem becomes more apparent as the size of the building increases.

[0016] This disclosure is made in view of the above facts and aims to provide an information processing device and information processing program that can convert point cloud data acquired as relative coordinate values ​​into absolute coordinate values ​​at a lower cost compared to conventional technologies. [Means for solving the problem]

[0017] The information processing device according to claim 1 of the present invention comprises an acquisition unit that acquires point cloud data obtained by three-dimensionally photographing an area where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is located such that a predetermined reference point of the encoded code is at a position corresponding to the corresponding point on the grid line or the offset line of the grid line; and a recording unit that records the point cloud data. The encoded code indicates classification information in which the information indicating the absolute coordinate position of a single corresponding point is divided according to a predetermined standard, and a plurality of encoded codes correspond to the single corresponding point.

[0018] According to the information processing device of the present invention as described in claim 1, an encoded code indicating the absolute coordinate position of a predetermined corresponding point on a corresponding center line is used, and a predetermined reference point of the encoded code is used to indicate divisional information that is divided according to a predetermined standard for the information indicating the absolute coordinate position of a single corresponding point. By using multiple encoded codes to correspond to a single corresponding point, the encoded code can be reused in multiple locations. As a result, point cloud data acquired as relative coordinate values ​​can be converted to absolute coordinate data at a lower cost compared to conventional technology.

[0019] The information processing device according to claim 2 is the information processing device according to claim 1, wherein the predetermined criterion is that there are multiple corresponding points that are common to the building from which the point cloud data is to be acquired.

[0020] According to the information processing device of the present invention as described in claim 2, by setting a predetermined criterion to the criterion that there are multiple corresponding points common to the building for which point cloud data is to be acquired, the encoding code can be reliably reused, and as a result, costs can be reliably reduced compared to conventional technology.

[0021] The information processing program according to the present invention described in claim 3 is a process of acquiring point cloud data obtained by three-dimensionally photographing an area where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on the corresponding center line is arranged such that a predetermined reference point of the encoded code is at a position corresponding to the corresponding point on the center line or the relief ink of the center line, and recording the point cloud data. The encoded code indicates classification information obtained by classifying information indicating the absolute coordinate position of the corresponding point based on a predetermined reference for a single corresponding point, and is configured to correspond to the single corresponding point by a plurality of the encoded codes. The process is executed by a computer.

[0022] According to the information processing program according to the present invention described in claim 3, when acquiring point cloud data obtained by three-dimensionally photographing an area where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on the corresponding center line is arranged such that a predetermined reference point of the encoded code is at a position corresponding to the corresponding point on the center line or the relief ink of the center line, and recording the acquired point cloud data, for a single corresponding point, the encoded code is made to indicate classification information obtained by classifying information indicating the absolute coordinate position of the corresponding point based on a predetermined reference, and is made to correspond to the single corresponding point by a plurality of encoded codes. As a result, the encoded code can be reused at multiple locations. Compared with the conventional technology, it is possible to convert the point cloud data acquired as relative coordinate values into data of absolute coordinate values at a lower cost.

Advantages of the Invention

[0023] As described above, according to the present invention, compared with the conventional technology, it is possible to convert the point cloud data acquired as relative coordinate values into data of absolute coordinate values at a lower cost.

Brief Description of the Drawings

[0024] [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]This is a perspective view showing an example of the configuration of a 3D scanner according to the embodiment. [Figure 3] This is a block diagram showing an example of the functional configuration of an information processing apparatus according to the embodiment. [Figure 4] This is a schematic diagram showing an example of the configuration of a scan information database according to the embodiment. [Figure 5] This is a plan view showing an example of the shooting situation by a 3D scanner according to the embodiment. [Figure 6] A flowchart showing an example of information processing according to the embodiment. [Figure 7] This is a front view showing an example of a conventional overlay display screen. [Figure 8] This is a front view showing an example of an overlay 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 an encoded code is placed on a grid line. [Modes for carrying out the invention]

[0025] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Since the BIM model is already known, further detailed explanation will be omitted. Details regarding the scan information database 13B will be discussed later.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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 an encoded code (hereinafter simply referred to as "encoded code") indicating 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") of the encoded code, 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.

[0041] In this embodiment, it is assumed that 3D imaging is performed on a building in which columns, walls, etc., have already been constructed. Therefore, it is not possible to place the encoded code at a position corresponding to a point on the grid line itself. For this reason, in this embodiment, the position where the encoded code is placed is set to a position corresponding to a point on the offset line of the grid line.

[0042] Furthermore, while this embodiment uses a two-dimensional code such as a QR code (registered trademark) as the encoding code, it is not limited to this. For example, a one-dimensional code such as a barcode may be used as the encoding code, or, not limited to these one-dimensional and two-dimensional codes, information that can represent absolute coordinate positions as an image, such as characters and symbols, may be used as the encoding code.

[0043] Furthermore, in this embodiment, the encoded code is applied as an image representing the encoded code printed on a plastic plate, but this is not the only form. For example, the encoded code may be applied as an image printed on a metal plate.

[0044] In this embodiment, the encoded code represents, for a single corresponding point, segmented information (hereinafter simply referred to as "segmented information") in which information indicating the absolute coordinate position of the corresponding point is divided according to a predetermined criterion, and a single corresponding point is represented by multiple encoded codes.

[0045] For example, if the information indicating the absolute coordinate position of a corresponding point is represented as (X,Y,Z)=(100,200,300), and the criterion of dividing the information indicating the absolute coordinate position into each direction of the coordinate axis is applied, then coded codes for "100", "200", and "300" are created and used. Similarly, if the criterion of dividing the information indicating the absolute coordinate position into each character is applied, coded codes for "0", "1", etc. are created and used. As a result, the created coded codes can be reused in multiple places, and compared to conventional techniques, point cloud data acquired as relative coordinate values ​​can be converted to absolute coordinate data at a lower cost. Hereinafter, multiple coded codes assigned to a single corresponding point will be referred to as a "code set".

[0046] In particular, in this embodiment, the predetermined criterion applied is that there are multiple corresponding points common to the building from which point cloud data is acquired, as classification information. As a result, the encoding code can be reliably reused, and thus, costs can be reduced more reliably compared to conventional technologies.

[0047] On the other hand, the detection unit 11C according to this embodiment detects partial point cloud data, which is point cloud data corresponding to the region of the encoded code group, 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 indicated by the encoded code group indicated by the partial point cloud data.

[0048] 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.

[0049] 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 transformed so that it becomes the absolute coordinate position of the position corresponding to the corresponding point indicated by the set of encoded codes indicated 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 indicated by the set of encoded codes indicated 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.

[0050] In this embodiment, the acquisition unit 11A acquires point cloud data obtained by 3D imaging a region where multiple coding code groups are arranged corresponding to 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 coding code group is applied.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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. In Figure 5, in order to avoid confusion, multiple encoding codes 70A to 70F are shown as an encoding code group for intersection P1 corresponding to one corresponding point, but in reality, encoding code groups are similarly arranged for intersection P2 and P3.

[0056] The photographer performing the 3D photography creates multiple encoded codes, each individually representing information for each category of information, which is divided according to predetermined criteria, and which can be reused in the target building. These codes represent the absolute coordinate position of the corresponding point (in this embodiment, the intersection of mutually orthogonal grid lines), the offset amount from the absolute coordinate position of the corresponding point to a position corresponding to the corresponding point (in this embodiment, the position of the intersection of mutually orthogonal relief lines) (hereinafter referred to as "offset information"), and information for identifying the corresponding point (hereinafter referred to as "identification information"). The photographer creates the minimum number of such codes that can be reused in the target building.

[0057] In this embodiment, the information indicating the absolute coordinate position of the corresponding point is divided into sections for each direction of the coordinate axis. In addition, in this embodiment, the offset information is divided into offset amounts in the X direction and offset amounts in the Y direction, and the specific information is applied as is. That is, in this division, for one corresponding point, a total of six types of encoded codes are created: three types of X coordinate values, Y coordinate values, and Z coordinate values ​​in the information indicating the absolute coordinate position of the corresponding point; two types of offset information, offset amounts in the X direction and offset amounts in the Y direction; and one type of specific information. In the following, we will describe the case in which information that has been pre-assigned to each intersection point C of mutually orthogonal grid lines and registered in the BIM model 13C is applied as specific information.

[0058] In the following, the encoded code indicating the X coordinate value in the information showing the absolute coordinate position of the corresponding point will be represented as "encoded code 70A", the encoded code indicating the Y coordinate value will be represented as "encoded code 70B", and the encoded code indicating the Z coordinate value will be represented as "encoded code 70C". Furthermore, in the following, the encoded code indicating the offset amount in the X axis direction in the offset information will be represented as "encoded code 70D", the encoded code indicating the offset amount in the Y axis direction will be represented as "encoded code 70E", and the encoded code indicating specific information will be represented as "encoded code 70F".

[0059] Next, as shown in Figure 5, the photographer positions the encoded code 70A such that its reference point (in this embodiment, the upper left corner point in a plan view of the encoded code 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. Furthermore, as shown in Figure 5, the photographer positions encoded codes 70B and 70C in that order along the offset line 84Y1, and also positions encoded codes 70D, 70E, and 70F in that order along encoded codes 70A to 70C. Similarly, the photographer arranges a set of coded codes for the corresponding point corresponding to the intersection point P2 of the offset line 84X2 of the X-axis centerline 82X2 and the offset line 84Y1, in the same manner as the coded codes 70A to 70F described above, and also arranges a set of coded codes for the corresponding point corresponding to the intersection point P3 of the offset line 84X1 and the offset line 84Y2 of the Y-axis centerline 82Y2.

[0060] In the following, when coding codes 70A to 70F are not specifically distinguished, they will be collectively referred to as "coding code 70". Also, in the following, when grid lines 82X1, 82X2, 82Y1, and 82Y2 are not specifically distinguished, they will be collectively referred to as "grid line 82". Also, in the following, when relief lines 84X1, 84X2, 84Y1, and 84Y2 are not specifically distinguished, they will be collectively referred to as "relief line 84". Furthermore, in the following, when intersections P1 to P3 are not specifically distinguished, 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 the coding code group at intersection C on the grid line 82, i.e., the corresponding point.

[0061] As described above, this embodiment explains the case where the encoded code group is placed at each of the three intersections P of the relief lines 84. However, in reality, in order to obtain overall point cloud data of the target building 80, a large number of encoded code groups will be placed corresponding to the positions of the numerous grid lines provided on the target building 80. However, since the 3D scanner 50 takes images in multiple sessions, the encoded code 70 can be reused for each image. In the example shown in Figure 5, the encoded code group is shown as being placed to the lower right of the target intersection P. However, this is not the only example, and the horizontal angle of the encoded code group is not particularly important as long as the position of the reference point R of the encoded code group (in this embodiment, the upper left corner point of the encoded code 70A in the encoded code group) coincides with the position of intersection P.

[0062] Once the encoded code set is arranged 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 the encoded code sets (hereinafter referred to as the "3D imaging area").

[0063] 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.

[0064] Subsequently, the photographer transmits the coordinate information, reflectivity information, and color information stored in the 3D scanner 50 to the information processing device 10.

[0065] 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 receives and acquires each piece of information, and temporarily stores each piece of acquired information in a predetermined area of ​​the storage unit 13 in its original form. Then, the recording unit 11B of the information processing device 10 combines each piece of information into a single piece of information as point cloud data indicating the 3D scanning area of ​​the target building 80, and records it in the scan information database 13B.

[0066] 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 executing the information processing shown in Figure 6.

[0067] 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.

[0068] In step 104, the CPU 11 detects point cloud data for each of the multiple (three in this embodiment) encoded code groups from the read scan information. This detection of point cloud data can be performed using conventionally known image recognition techniques with the color information or reflectance intensity information in the scan information. The point cloud data corresponding to each of the encoded code groups 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".

[0069] In step 106, the CPU 11 identifies the absolute coordinate position of the corresponding point corresponding to the placement position of each coded code group by decoding the image shown by each partial point cloud data (in this embodiment, the image shown by the color information, which is an image showing multiple two-dimensional codes) for each coded code group. The CPU 11 then identifies the absolute coordinate position of each intersection P by converting the identified absolute coordinate position of the corresponding point to the coordinate position of the corresponding intersection P. In order to convert the absolute coordinate position of the corresponding point to the absolute coordinate position of the corresponding intersection P, distances a and b between the center line 82 and the offset line 84 corresponding to the center line 82 are required, as shown in Figure 5 as an example. These distances can be obtained as the offset amount by decoding coded code 70D and coded code 70E as described above. Furthermore, the identification of the corresponding point corresponding to the placement position of each coded code group can be performed using the identification information obtained by decoding coded code 70F in that coded code group.

[0070] In step 108, the CPU 11 uses the scan information to identify the image represented by each partial point cloud data, i.e., the relative coordinate position of each reference point R of the encoding code 70A in each encoding code group.

[0071] 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.

[0072] First, the CPU 11 derives the amount and direction of the shift between the relative coordinate position of the reference point R of the coding code 70A in any one of the coding code groups 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 amount of shift in the opposite direction of the derived shift.

[0073] 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 set of encoded codes, 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 sets of encoded codes. In this case, multiple sets of the above-mentioned displacement amount and displacement direction will be obtained, but in this case, for example, an example can be given of a method of coordinate transformation in the same manner as described above by applying the average value of the multiple sets of displacement amounts and the average direction of the multiple sets of displacement directions.

[0074] 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.

[0075] First, the CPU 11 derives a first straight line representing the escape line 84X1, which connects the reference point R of the coded group placed in relation to intersection P1 in the scan information with the reference point R of the coded group placed in relation to intersection P3, and a second straight line representing the escape line 84Y1, which connects the reference point R of the coded group placed in relation to intersection P1 with the reference point R of the coded group placed in relation to intersection P2.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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 encoded code group, a discrepancy may still 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.

[0081] 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.

[0082] As described above, according to the information processing device 10 of this embodiment, when acquiring point cloud data obtained by 3D imaging of an area where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is located such that the predetermined reference point of the encoded code is at the position corresponding to the corresponding point on the grid line or the offset line of the grid line, and when recording the acquired point cloud data, the encoded code indicates classification information in which the information indicating the absolute coordinate position of a single corresponding point is divided according to a predetermined standard, and a single corresponding point is handled by multiple encoded codes. Therefore, as the encoded code can be reused in multiple locations, point cloud data acquired as relative coordinate values ​​can be converted to absolute coordinate data at a lower cost compared to conventional technology.

[0083] In particular, according to the information processing device 10 of this embodiment, the predetermined criterion is that there are multiple corresponding points common to each other in the building from which point cloud data is acquired. Therefore, the encoding code can be reused with certainty, resulting in a more reliable reduction in cost compared to conventional technologies.

[0084] In the above embodiment, the case in which the coded code group is arranged so that the reference point R of the coded code group coincides with the position corresponding to the corresponding point in the escape line 84 was described, but the invention is not limited to this. For example, as shown in Figure 9, the coded code group may be arranged so that the reference point R of the coded code group coincides with the intersection C (i.e., the corresponding point) of the center line 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 is 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 corresponding point obtained by the processing of step 106.

[0085] 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.

[0086] Furthermore, while the above embodiments have described cases where the coded group is arranged in accordance with the intersections of two relief lines 84 in the X-axis and Y-axis directions, or the intersections of two centerlines 82 in the X-axis and Y-axis directions, the embodiment is not limited to these cases. For example, the coded group may be arranged and applied at a position other than the intersection in one relief line 84 or one centerline 82.

[0087] 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.

[0088] Furthermore, although the above embodiment describes the case in which the upper left corner point of the encoding code 70A is applied as the reference point for this disclosure, the invention is not limited to this. For example, the corner point of another encoding code group, such as the upper right corner point of the encoding code 70D, may be applied as the reference point.

[0089] 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.

[0090] Furthermore, in the above embodiment, we have described a case in which, in addition to the absolute coordinate position and identification information of the corresponding point, offset information indicating the values ​​of distance a and distance b (the offset amount mentioned above) shown in Figure 5 is also applied as information indicated by the coded code group, but the invention is not limited to this. For example, the offset information among this information may not be included in the coded code group. In this case, distance a and distance b can be identified from the BIM model 13C.

[0091] Furthermore, if there is only one corresponding point to apply, the information indicated by the coded set may not include specific information.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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]

[0096] 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 section 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~70F coding codes 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 where an encoded code indicating the absolute coordinate position of a predetermined corresponding point on a corresponding grid line is arranged such that the predetermined reference point of the encoded code 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, The encoding code is such that, for a single corresponding point, the information indicating the absolute coordinate position of the corresponding point is divided according to a predetermined standard, and the information is divided according to a predetermined standard. Multiple encoding codes are used to correspond to the single corresponding point. Information processing device.

2. The predetermined criterion is that the classification information contains multiple corresponding points that are common to the buildings from which the point cloud data is to be acquired. The information processing apparatus according to claim 1.

3. A coding code indicating the absolute coordinate position of a predetermined corresponding point on the corresponding center line is used. Point cloud data is obtained by 3D imaging of an area where a predetermined reference point of the coding code is positioned to correspond to the said corresponding point on the center line or the offset line of the center line. This is a process for recording the aforementioned point cloud data. The encoding code is such that, for a single corresponding point, the information indicating the absolute coordinate position of the corresponding point is divided according to a predetermined standard, and the information is divided according to a predetermined standard. Multiple encoding codes are used to correspond to the single corresponding point. An information processing program that instructs a computer to perform a task.

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