Position detection marker and information processing system

Abstract

To provide a position detection marker and an information processing system that can reduce the work for doing 3D-imaging.SOLUTION: A position detection marker 80 includes: a first surface member 82 with a first surface 82A formed; a second surface member 84 with a second surface 84A formed, a first line of intersection 72A being formed in the second surface 84A by intersection of the first surface 82A and the second surface 84A, the second surface member 84 being separate from the first surface member 82; a third surface member 86 with a third surface 86A formed, a second line of intersection 72B being formed by intersection of the third surface member with the first surface 82A and intersecting with the first line of intersection 72A at one point of intersection 70, the third surface member 86 being separate from the first surface member 82 and the second surface member 84.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a position detection marker and an information processing system. [Background technology]

[0002] Traditionally, 3D photography in the construction industry using 3D scanners (hereinafter also referred to as "3D scanners") has been conducted outdoors to photograph the building framework, exterior, and equipment, just like in the civil engineering field. In addition, 3D photography has also been conducted semi-outdoors (rooftops hidden by privacy walls, dry areas, pilotis, etc.) and indoors to photograph the building framework, interior, and equipment.

[0003] The point cloud data acquired through 3D photography using this 3D scanner is used to check the on-site and current situation using a personal computer, etc.

[0004] However, when taking 3D photographs using a 3D scanner, it is not possible to capture areas that are in the shadow of objects such as equipment or pillars installed in the target area, or the back side of the objects, with a single shot, so multiple shots are usually taken and the point cloud data obtained from each shot is synthesized.

[0005] In the past, in addition to the 3D scanner itself, a total station or similar device was used to measure the position coordinates of the 3D scanner and reference points, and the positions of multiple point cloud data were aligned based on those coordinates. Therefore, in this case, in addition to measuring with the 3D scanner, the work of setting up many reference points and measuring their positions with a total station was also involved.

[0006] In addition, the reference points mentioned above are balls, checker markers, and other objects, but since only one coordinate point can be identified for each of these, three or more reference points are required to identify the coordinate system.

[0007] Conventionally, the following techniques have been available as techniques that can be applied to solve this problem.

[0008] Patent Document 1 discloses a marker used for measurement with a three-dimensional laser light scanning device that emits a beam of light into the surrounding environment, receives the reflected light that returns, and determines the three-dimensional coordinates of surrounding objects to be measured based on the distance to the object, the horizontal angle, and the vertical angle. This marker is characterized in that the intersection of three ridgelines formed by three planes and adjacent planes forms one vertex, and the three planes are arranged facing the three-dimensional laser light scanning device with this vertex as a reference point.

[0009] Patent Document 2 discloses a laser measurement marker for setting azimuth points, which is used in a laser measurement method for determining the position coordinates of a group of measurement points obtained by performing laser measurement based on a reference point and an azimuth point whose position coordinates are known. This laser measurement marker has a bottom plate and two side plates that serve as laser reflecting surfaces, and the two side plates are arranged perpendicular or approximately perpendicular to the bottom plate and fixed to the bottom plate. In addition, the two side plates of this laser measurement marker are arranged perpendicular or approximately perpendicular to each other, and an observation line is formed by the two side plates. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] JP 2019-132700 A [Patent Document 2] JP 2020-173273 A Summary of the Invention [Problem to be solved by the invention]

[0011] However, the technique described in Patent Document 1 has a problem in that it is necessary to use a plurality of markers, which makes it time-consuming to perform three-dimensional imaging.

[0012] Furthermore, in the technology described in Patent Document 2, the installation positions of the laser measurement markers are specified, and this technology also has the problem that it takes time and effort to take three-dimensional images.

[0013] The present disclosure has been made in consideration of the above circumstances, and has an object to provide a position detection marker and an information processing system that can reduce the effort required for performing 3D imaging. [Means for solving the problem]

[0014] The position detection marker of the present invention as described in claim 1 comprises a first surface member having a first surface formed thereon, a second surface member spaced apart from the first surface member having a second surface formed thereon which intersects with the first surface to form a first line of intersection, and a third surface member spaced apart from the first surface member and having a third surface formed thereon which intersects with the first surface to form a second line of intersection that intersects with the first surface at one intersection point.

[0015] According to the position detection marker of the present invention as described in claim 1, there is provided a first surface member having a first surface formed thereon, a second surface member having a second surface formed thereon which intersects with the first surface to form a first line of intersection and which is spaced apart from the first surface member, and a third surface member having a third surface formed thereon which intersects with the first surface to form a second line of intersection which intersects with the first surface at one intersection point and which is spaced apart from the first surface member and the second surface member.As a result, it is possible to position a single position detection marker at any position to perform 3D imaging, thereby reducing the effort required for performing 3D imaging.

[0016] The position detection marker of the present invention described in claim 2 is the position detection marker described in claim 1, wherein at least one pair of the first surface member, the second surface member, and the third surface member have the same shape.

[0017] According to the position detection marker of the present invention described in claim 2, at least one pair of the first surface member, second surface member, and third surface member can be made to have the same shape, thereby making it possible to construct the position detection marker at lower cost.

[0018] The position detection marker of the present invention described in claim 3 is a position detection marker described in claim 1 or claim 2, wherein the first surface member, the second surface member, and the third surface member have the same shape.

[0019] According to the position detection marker of the present invention as set forth in claim 3, the first surface member, the second surface member, and the third surface member have the same shape, so that the position detection marker can be constructed at lower cost.

[0020] The information processing system of the present invention as described in claim 4 includes a position detection marker as described in any one of claims 1 to 3, an acquisition unit that acquires a plurality of point cloud data obtained by 3D photographing an area including the position detection marker from different positions, and a superposition unit that superimposes the plurality of point cloud data acquired by the acquisition unit by identifying the first intersection line, the second intersection line, and the intersection point of the position detection marker in the point cloud indicated by the plurality of point cloud data.

[0021] According to the information processing system of the present invention as described in claim 4, by using the position detection marker of the present invention and acquiring multiple point cloud data obtained by 3D imaging of an area including the position detection marker from different positions, the acquired multiple point cloud data are identified and superimposed by identifying the first intersection line, second intersection line, and intersection point of the position detection marker in the point cloud represented by the multiple point cloud data, thereby reducing the effort required for 3D imaging. Effect of the Invention

[0022] As described above, according to the present invention, it is possible to reduce the effort required for three-dimensional imaging. [Brief description of the drawings]

[0023] [Figure 1] 1 is a block diagram showing an example of a hardware configuration of an information processing system according to an embodiment. [Diagram 2]FIG. 1 is a perspective view showing an example of the configuration of a 3D scanner according to an embodiment. [Diagram 3] 1 is a perspective view showing an example of a configuration of a position detection marker according to an embodiment; [Figure 4] FIG. 2 is a block diagram showing an example of a functional configuration of the information processing device according to the embodiment. [Diagram 5] FIG. 4 is a schematic diagram illustrating an example of a configuration of a scan information database according to the embodiment. [Figure 6] FIG. 2 is a perspective view showing an example of a state of 3D imaging by the 3D scanner according to the embodiment. [Figure 7] 10 is a flowchart illustrating an example of information processing according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In this embodiment, the present invention will be described as being applied to an information processing system that takes 3D images of the interior of a building at multiple different positions using a 3D scanner and synthesizes multiple point cloud data obtained by the multiple 3D images.

[0025] First, the configuration of an information processing system 90 according to the present embodiment will be described with reference to Figs. 1 to 4. Fig. 1 is a block diagram showing an example of a hardware configuration of the information processing system 90 according to the present embodiment. Fig. 2 is a perspective view showing an example of a configuration of a 3D scanner 50 according to the present embodiment. Fig. 3 is a perspective view showing an example of a configuration of a position detection marker 80 according to the present embodiment. Furthermore, Fig. 4 is a block diagram showing an example of a functional configuration of an information processing device 10 according to the present embodiment.

[0026] 1, an information processing system 90 according to this embodiment includes an information processing device 10, a 3D scanner 50, and a position detection marker 80. Examples of the information processing device 10 include general-purpose or dedicated information processing devices such as a personal computer and a server computer.

[0027] 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 a mouse, a display unit 15 such as a liquid crystal display, a medium reading and writing device (R / W) 16, and a communication interface (I / F) unit 18. The CPU 11, the memory 12, the storage unit 13, the input unit 14, the display unit 15, the medium reading and writing device 16, and the communication interface (I / F) unit 18 are connected to each other via a bus B. The medium reading and writing device 16 reads information written in a recording medium 17 and writes information to the recording medium 17.

[0028] The storage unit 13 is realized by a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like. An information processing program 13A is stored in the storage unit 13 as a storage medium. The information processing program 13A is stored in the storage unit 13 by setting a recording medium 17, on which the information processing program 13A is written, in the medium reading and writing device 16, and the medium reading and writing device 16 reading the information processing program 13A from the recording medium 17. The CPU 11 reads the information processing program 13A from the storage unit 13, expands it in the memory 12, and sequentially executes the processes of the information processing program 13A.

[0029] Furthermore, a scan information database 13B is stored in the storage unit 13. The scan information database 13B will be described in detail later.

[0030] 1, the 3D scanner 50 according to this embodiment includes a scanner body 52 and a storage unit 58. Although not shown, the 3D scanner 50 according to this embodiment also includes a motor for changing the shooting direction of the scanner body 52 when performing 3D shooting with the scanner body 52, a control unit for controlling the operation of each unit such as the motor and the scanner body 52, etc.

[0031] 2, the 3D scanner 50 according to this embodiment has a scanner body 52 provided on the top of a tripod leg 60, and the scanner body 52 is capable of changing the shooting direction by driving the above-mentioned motor on the top of the leg 60. It goes without saying that the leg 60 is not limited to a tripod.

[0032] The 3D scanner 50 according to the present embodiment is a so-called time-of-flight type in which a laser beam is emitted from the scanner body 52, a distance is calculated from the time it takes for the laser beam to be reflected by the object and returned, and a laser beam emission angle is calculated from the moving direction of the scanner body 52, and a three-dimensional position is specified using these calculated values. However, the method of specifying a three-dimensional position by the 3D scanner 50 is not limited to this. For example, a so-called phase-shift type in which a laser beam modulated in a plurality of ways is emitted from the scanner body 52, a distance to the object is calculated based on the phase difference of the diffuse reflection component that hits the object and returns, and a three-dimensional position is specified based on the distance and the emission angle of the laser beam may be applied as the 3D scanner 50.

[0033] In addition, in the 3D scanner 50 according to the present embodiment, in addition to coordinate information indicating the coordinates of the three-dimensional position of each point, reflection intensity information indicating the reflection intensity of the laser light of the corresponding point and color information indicating the color of the corresponding point are acquired as point cloud data. Then, in the 3D scanner 50 according to the present embodiment, the acquired coordinate information, reflection intensity information, and color information are associated with each point in the point cloud data and stored in the storage unit 58. However, this is not limited to the above form, and for example, only the above coordinate information and the above reflection intensity information may be stored as point cloud data, or only the above coordinate information may be stored.

[0034] The information processing system 90 according to this embodiment is adapted to obtain point cloud data for areas that are shaded by objects such as equipment and pillars installed in the target area of ​​a building to be photographed in 3D, and also for areas behind the objects. For this reason, the information processing system 90 according to this embodiment is adapted to perform 3D photography at a plurality of different positions using the 3D scanner 50, and to synthesize the point cloud data obtained by each photography.

[0035] The position detection marker 80 according to this embodiment indicates a reference position for point cloud data obtained by each of the multiple 3D photographing operations. For this reason, the position detection marker 80 is provided at a common position where at least one of a first surface 82A, a second surface 84A, and a third surface 86A (see also FIG. 3) of the position detection marker 80, which will be described later, can be photographed by the 3D scanner 50 in each of the multiple 3D photographing operations.

[0036] As shown in Figure 3, the position detection marker 80 of this embodiment includes a first surface member 82 having a first surface 82A formed thereon, a second surface member 84 having a second surface 84A formed thereon, and a third surface member 86 having a third surface 86A formed thereon.

[0037] Here, the second surface member 84 is configured so that a first intersection line 72A is formed when a second surface 84A intersects with the first surface 82A, and is separated from the first surface member 82. The third surface member 86 is configured so that a third surface 86A intersects with the first surface 82A, and a second intersection line 72B that intersects with the first intersection line 72A at one intersection point 70 is formed, and is separated from the first surface member 82 and the second surface member 84.

[0038] In addition, in the position detection marker 80 according to this embodiment, one end of the elongated support portion 82B is connected to the surface opposite to the first surface 82A of the first surface member 82. Similarly, in the position detection marker 80 according to this embodiment, one end of the elongated support portion 84B is connected to the surface opposite to the second surface 84A of the second surface member 84, and one end of the elongated support portion 86B is connected to the surface opposite to the third surface 86A of the third surface member 86. The other end of each of the support portion 82B, the support portion 84B, and the support portion 86B is connected to the other end of the elongated shaft portion 88, one end of which is fixed to a base 89.

[0039] In the position detection marker 80 according to this embodiment, the first surface member 82, the second surface member 84, and the third surface member 86 are all rectangular plate-like with the same aspect ratio and have the same shape, but this is not limited to this. For example, only any pair of the first surface member 82, the second surface member 84, and the third surface member 86 may have the same shape, or each member may have a different shape. In addition, the shapes of the first surface member 82, the second surface member 84, and the third surface member 86 are not limited to a rectangle, and may be other shapes, such as a triangle when viewed from the front, a polygon with pentagons or more, a circle, an ellipse, etc.

[0040] In addition, in the position detection marker 80 according to the present embodiment, the first surface member 82, the second surface member 84, and the third surface member 86 are made of metal from the viewpoint of durability, but the material is not limited to this. Any material can be used as long as it is detectable by the laser emitted from the 3D scanner 50.

[0041] Furthermore, the orientations of the first surface member 82, the second surface member 84, and the third surface member 86 shown in FIG. 3 are merely examples, and it goes without saying that any orientation may be applied as long as it satisfies the conditions of the first intersection line, the second intersection line, and the intersection point described above.

[0042] In the information processing system 90 according to the present embodiment, the various information stored in the storage unit 58 of the 3D scanner 50 is transmitted to the information processing device 10 by wired communication, but the present invention is not limited thereto. For example, the various information stored in the storage unit 58 of the 3D scanner 50 may be transmitted to the information processing device 10 by wireless communication. In addition, the storage unit 58 may be a portable storage medium that is detachable from the 3D scanner 50, and the various information stored in the storage unit 58 of the 3D scanner 50 may be transferred to the information processing device 10 via the storage medium. Furthermore, the various information stored in the storage unit 58 of the 3D scanner 50 is not limited to being directly transmitted to the information processing device 10, and may be transmitted to the information processing device 10 via a cloud server, for example.

[0043] Next, a functional configuration of the information processing device 10 according to the present embodiment will be described with reference to Fig. 4. As shown in Fig. 4, the information processing device 10 according to the present embodiment includes an acquisition unit 11A and a superimposition unit 11B. The CPU 11 of the information processing device 10 executes an information processing program 13A to function as the acquisition unit 11A and the superimposition unit 11B.

[0044] The acquisition unit 11A according to the present embodiment acquires a plurality of point cloud data obtained by three-dimensionally capturing an area including the position detection marker 80 from different positions using the 3D scanner 50. The superimposition unit 11B according to the present embodiment superimposes the plurality of point cloud data acquired by the acquisition unit 11A by identifying the first intersection line 72A, the second intersection line 72B, and the intersection point 70 of the position detection marker 80 in the point cloud indicated by the plurality of point cloud data. Note that "identification" here means that corresponding points are regarded as the same, and the coordinate axes of the plurality of point cloud data are made to coincide with each other.

[0045] Next, the scan information database 13B according to the present embodiment will be described with reference to Fig. 5. Fig. 5 is a schematic diagram showing an example of the configuration of the scan information database 13B according to the present embodiment.

[0046] As shown in FIG. 5, the scan information database 13B according to the present embodiment stores information on the imaging location ID (Identification), coordinates, reflection intensity, and color in association with each other.

[0047] The photographing location ID is information that is assigned in advance as a different ID for each photographing position in order to distinguish the photographing positions by the 3D scanner 50. The coordinates are the above-mentioned coordinate information indicating the coordinates of the positions of the points obtained by 3D photographing by the 3D scanner 50 at the corresponding photographing positions. Similarly, the reflection intensity is the above-mentioned reflection intensity information at the corresponding points, and the color is the above-mentioned color information at the corresponding points. That is, in the scan information database 13B according to this embodiment, point cloud data of coordinate information, reflection intensity information, and color information obtained by 3D photographing by the 3D scanner 50 is registered for each photographing position.

[0048] Next, the operation of the information processing system 90 according to this embodiment will be described with reference to Figs. 6 to 7. Fig. 6 is a perspective view showing an example of a state of 3D photography by the 3D scanner 50 according to this embodiment. Fig. 7 is a flowchart showing an example of information processing according to this embodiment. In order to avoid confusion, objects such as equipment and pillars present in a building are omitted from Fig. 6.

[0049] As an example, as shown in FIG. 6, a photographer who performs 3D photography sequentially installs the 3D scanner 50 at multiple positions (three positions in the example shown in FIG. 6) inside a target building (hereinafter referred to as the "target building") 99 so that all parts can be photographed as much as possible, and performs 3D photography. When performing these multiple 3D photographys, as described above, at each photography position, the position detection marker 80 is installed at a common position where at least one of the first surface 82A, the second surface 84A, and the third surface 86A can be photographed from the 3D scanner 50. By this 3D photography, each piece of information, such as the above-mentioned coordinate information, reflection intensity information, and color information, at each photography position is obtained for each photography, and temporarily stored in the storage unit 58.

[0050] Thereafter, the photographer performs an operation to transmit each piece of information for each shooting position, that is, the coordinate information, the reflection intensity information, and the color information stored in the 3D scanner 50, to the information processing device 10.

[0051] When the above-mentioned information is received from the 3D scanner 50, the information processing device 10 registers the received information in the scan information database 13B. By registering the information, the scan information database 13B shown in FIG. 5 as an example is constructed.

[0052] In this state, the user of the information processing device 10 inputs an instruction to start execution of the information processing program 13A via the input unit 14. In response to this instruction input, the CPU 11 of the information processing device 10 executes the information processing program 13A, thereby executing the information processing shown in FIG.

[0053] In step 100 of FIG. 7, the CPU 11 reads all information (hereinafter referred to as "scan information") from the scan information database 13B.

[0054] In step 102, the CPU 11 uses the coordinate information in the read scan information to identify a first intersection line 72A where the first surface 82A of the first surface member 82 of the position detection marker 80 intersects with the second surface 84A of the second surface member 84. At this time, the CPU 11 uses the coordinate information in the scan information to derive an intersection line between an extension plane of the first surface 82A and an extension plane of the second surface 84A, thereby identifying the first intersection line 72A.

[0055] In step 104, the CPU 11 uses the coordinate information in the read scan information to identify the second intersection line 72B where the first surface 82A of the first surface member 82 of the position detection marker 80 intersects with the third surface 86A of the third surface member 86. At this time, the CPU 11 uses the coordinate information in the scan information to derive the intersection line between the extension surface of the first surface 82A and the extension surface of the third surface 86A, thereby identifying the second intersection line 72B.

[0056] In step 106, the CPU 11 identifies the intersection 70 between the first intersection line 72A identified by the above processing and the second intersection line 72B. At this time, the CPU 11 identifies the intersection 70 by deriving the intersection between an extension line of the first intersection line 72A and an extension line of the second intersection line 72B.

[0057] In step 108, the CPU 11 superimposes the scan information for each imaging position by identifying the first intersection line 72A, the second intersection line 72B, and the intersection point 70 specified by the above process.

[0058] In step 110, the CPU 11 stores the superimposed scan information again in a predetermined area of ​​the storage unit 13, and then ends this information processing.

[0059] The scan information stored in a predetermined area of ​​the storage unit 13 by the above information processing will be utilized to check the site and current situation.

[0060] As described above, the position detection marker 80 according to this embodiment includes a first surface member 82 having a first surface 82A formed thereon, a second surface member 84 having a second surface 84A formed thereon that intersects with the first surface 82A to form a first intersection line 72A and that is spaced apart from the first surface member 82, and a third surface member 86 having a third surface 86A formed thereon that intersects with the first surface 82A to form a second intersection line 72B that intersects with the first intersection line 72A at one intersection point 70 and that is spaced apart from the first surface member 82 and the second surface member 84. Therefore, a single position detection marker 80 can be provided at any position to perform three-dimensional imaging, which reduces the effort required for performing three-dimensional imaging.

[0061] Furthermore, according to the position detection marker 80 of this embodiment, the first surface member 82, the second surface member 84, and the third surface member 86 have the same shape. Therefore, it can be constructed at a lower cost.

[0062] Furthermore, according to the information processing system 90 of this embodiment, the above-mentioned position detection marker 80 is used, and a plurality of point cloud data obtained by three-dimensionally photographing an area including the position detection marker 80 from different positions is acquired, and the acquired plurality of point cloud data are superimposed by identifying the first intersection line 72A, the second intersection line 72B, and the intersection point 70 of the position detection marker 80 in the point cloud indicated by the plurality of point cloud data. Therefore, a single position detection marker 80 can be provided at an arbitrary position to perform three-dimensional photography, and as a result, the effort required for performing three-dimensional photography can be reduced.

[0063] In the above embodiment, a case where a plurality of point cloud data are synthesized by the information processing device 10 has been described, but the present invention is not limited to this. For example, the point cloud data may be synthesized in the 3D scanner 50. In this case, the information processing shown in FIG. 7 is executed in the 3D scanner 50. In this case, the information processing device 10 is not required, so that the information processing system 90 can be constructed at a lower cost than in the above embodiment.

[0064] In the above embodiment, for example, the hardware structure of the processing unit that executes each process of the acquisition unit 11A and the superposition unit 11B may be any of the following various processors: As described above, the above various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as a processing unit, as well as a programmable logic device (PLD), which is a processor whose circuit configuration can be changed after manufacture such as an FPGA (Field-Programmable Gate Array), a dedicated electric circuit, which is a processor having a circuit configuration designed specifically for executing specific processes such as an ASIC (Application Specific Integrated Circuit), etc.

[0065] The processing unit may be configured with one of these various processors, or may be configured with 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).The processing unit may also be configured with a single processor.

[0066] As an example of configuring the processing unit with one processor, first, there is a form in which one processor is configured with a combination of one or more CPUs and software, as represented by computers such as client and server, and this processor functions as the processing unit. Second, there is a form in which a processor is used that realizes the functions of the entire system including the processing unit with one IC (Integrated Circuit) chip, as represented by System On Chip (SoC), etc. In this way, the processing unit is configured using one or more of the above various processors as a hardware structure.

[0067] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements. [Explanation of symbols]

[0068] 10. Information processing device 11 CPU 11A Acquisition Department 11B Overlapping part 12. Memory 13 Storage section 13A Information Processing Program 13B Scan Information Database 14 Input section 15 Display section 16 Media Read / Write Device 17 Recording media 18 Communication I / F section 50 3D Scanner 52 Scanner body 58 Memory section 60 Legs 80 Position detection marker 82 First side member 82A First Side 82B Support part 84 Second surface member 84A Second Side 84B Support part 86 Third side member 86A The Third Side 86B Support part 88 Shaft 89 Pedestal 90 Information Processing Systems 99 Target Building

Claims

1. a first surface member having a first surface formed thereon; A second surface member is formed, the second surface intersecting with the first surface to form a first intersection line, and the second surface member is spaced apart from the first surface member; a third surface member having a second intersection line formed by intersecting with the first surface and intersecting with the first intersection line at one intersection point; and a third surface member spaced apart from the first surface member and the second surface member; A position detection marker comprising:

2. At least one pair of the first surface member, the second surface member, and the third surface member have the same shape. The position detection marker according to claim 1 .

3. The first surface member, the second surface member, and the third surface member have the same shape.

3. The position detection marker according to claim 1 or 2.

4. A position detection marker according to any one of claims 1 to 3; an acquisition unit that acquires a plurality of point cloud data obtained by three-dimensionally capturing an area including the position detection marker from different positions; a superimposition unit that superimposes the plurality of point cloud data acquired by the acquisition unit by identifying the first intersection line, the second intersection line, and the intersection point of the position detection marker in a point cloud represented by the plurality of point cloud data; An information processing system comprising:

Images