A method and program for estimating the volume of an object, a computer-readable storage medium on which the program is stored, and a computer on which the program is installed.

Abstract

To provide a method for efficiently estimating a cubic volume of an object on the basis of images of the object acquired from three places.SOLUTION: This method includes steps of: acquiring first to third images including an object and scale reference from first to third places, respectively; using the scale reference to unify the scales of the first to third images; setting first to third occupation areas of a square occupying 80% or more and 120% or less of the area of the object in the first to third images, respectively; determining x-coordinates and y-coordinates of the vertex of the first occupation area, y-coordinates and z-coordinates of the second occupation area, and y-coordinates and z-coordinates of the third occupation area in the first to third images, respectively; using the first to third occupation areas to construct a hexahedron approximating the object in XYZ global coordinate system independent of x-coordinates, y-coordinates, and z-coordinates; and calculating a cubic volume of the hexahedron.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] One embodiment of the present invention relates to a method for estimating the volume of an object. For example, it relates to a method and program for estimating the volume of an object using an image of the object, a computer-readable storage medium in which the program is stored, and a computer on which the program is installed. [Background technology]

[0002] Methods for estimating the volume of an object using its image are known. For example, Patent Document 1 discloses a method for estimating the volume of a spherical crop by assuming that the shape of the end face parallel to the horizontal plane of the spherical crop is a circle, and using the radius of the end face, which is half the width of the spherical crop determined from a side view image, and the pixel height. Patent Document 2 discloses a method for estimating the volume of an object by projecting a unique pattern onto an object equipped with markers, and processing images acquired from two locations in this state. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-135275 [Patent Document 2] Japanese Patent Publication No. 2011-191131 [Overview of the project] [Problems that the invention aims to solve]

[0004] One embodiment of the present invention aims to provide a novel method for estimating the volume of an object. Alternatively, one embodiment of the present invention aims to provide a method for efficiently estimating the volume of an object based on an image of the object. [Means for solving the problem]

[0005] One embodiment of the present invention is a method for estimating the volume of an object. This method includes: acquiring first, second, and third images containing the object and a scale reference at first, second, and third locations, respectively; unifying the scale of the first, second, and third images using the scale reference; setting first, second, and third quadrilateral occupied regions in the first, second, and third images, respectively, each occupying 80% to 120% of the object's area; determining the x and y coordinates of the vertices of the first occupied region, the y and z coordinates of the second occupied region, and the y and z coordinates of the third occupied region in each of the first, second, and third images; constructing a hexahedron approximating the object using the first, second, and third occupied regions in a global XYZ coordinate system independent of the x, y, and z coordinates; and calculating the volume of the hexahedron. The X, Y, and Z axes of the global XYZ coordinate system are parallel to the x-axis, y-axis, and z-axis, respectively.

[0006] One embodiment of the present invention is a program for estimating the volume of an object. This program is configured to cause a processing unit to perform the following actions: unify the scales of the first, second, and third images, which include the object and scale reference acquired at the first, second, and third locations respectively, using the scale reference; determine the x and y coordinates of the vertices of the first occupied region, the y and z coordinates of the second occupied region, and the y and z coordinates of the third occupied region, for the first, second, and third quadrilateral occupied regions that occupy 80% to 120% of the area of ​​the object set in each of the first, second, and third images; construct a hexahedron approximating the object using the first, second, and third occupied regions in a global XYZ coordinate system independent of the x, y, and z coordinates; and calculate the volume of the hexahedron.

[0007] One embodiment of the present invention is a computer-readable storage medium on which the above-mentioned program is recorded.

[0008] One embodiment of the present invention is a computer equipped with the above-mentioned program. [Brief explanation of the drawing]

[0009] [Figure 1] A flowchart illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 2] A schematic top view illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 3] A schematic side view illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 4] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 5] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 6] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 7] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 8] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 9] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 10] A schematic diagram illustrating a method for estimating the volume of an object according to one embodiment of the present invention. [Figure 11] An example of a block diagram of a computer according to one embodiment of the present invention. [Modes for carrying out the invention]

[0010] The embodiments of the present invention will be described below with reference to the drawings and other materials. However, the present invention can be implemented in various forms without departing from its essence, and is not to be interpreted as being limited to the embodiments described below.

[0011] 1. Methods for estimating the volume of an object One embodiment of the present invention is a method for estimating the volume of an object. There are no restrictions on the objects to which this method can be applied, and it can be applied to various objects having a three-dimensional shape. An example of such an object is a rock or boulder scattered on a mountainside or riverbed, i.e., a boulder. In some locations, it is difficult for workers to approach and survey boulders, and surveying can be dangerous. However, as will be detailed below, this method can efficiently estimate the volume by using images of the object acquired from three different directions. Furthermore, this method can estimate the volume by acquiring an image of the entire boulder that is exposed, or even if part of the boulder is buried in the ground and the entire shape is not exposed, the volume of the object can be estimated by using images of the object acquired from three different directions. In addition, it is not necessary for workers to carry an imaging device to acquire images of the object; unmanned vehicles or unmanned aerial vehicles equipped with imaging devices may be used. Therefore, the volume of a boulder can be quickly estimated while ensuring the safety of the workers. The method will be explained in detail below, using a boulder as an example object.

[0012] (1) Image acquisition Figure 1 shows a flowchart of this method. In this method, first, images of the boulder are obtained from three different locations. The three locations can be appropriately set to obtain images of the boulder from three directions. More specifically, the three locations may or may not be at the same vertical height (altitude). Similarly, the three locations may or may not be at the same distance from the boulder. Also, as shown in Figure 2, a schematic diagram of the boulder viewed from above, if the first location is positioned in the first direction from the boulder (or the center of the boulder or a point on the boulder), then the second location may be on the second direction, shifted by an angle θ1 in the horizontal plane from the first direction, between 10° and 170°, between 30° and 150°, or between 45° and 135°. On the other hand, the third point can be located in a third direction that is angled θ2 from the first direction in the horizontal plane between -10° and -170°, -30° and -150°, or -45° and -135°. θ1 and θ2 may be the same or different. By acquiring images of the boulder from these three points, a first image (front view) is obtained from the first point, a second image (left side view) is obtained from the second point, and a third image (right side view) is obtained from the third point. Note that the number of images is not limited to three; it may be four or more. For example, in addition to the first to third images above, a fourth image may be used, obtained from a point on the opposite side of the boulder from the first point (for example, a point in a direction that is angled 135° to 225° from the first direction in the horizontal plane).

[0013] Image acquisition can be performed using an imaging device that can acquire images as digital data, such as a digital camera. Alternatively, an analog camera can be used, and the output can be converted to digital data to be used as the image. Therefore, each image is represented as multiple data points arranged in a multi-row and multi-column matrix, each represented by multiple gradations (e.g., 256 gradations). When the image is displayed on a screen, the data points correspond to pixels.

[0014] Here, as shown in the schematic side view of Figure 3, when acquiring the third image from the first image, the scale reference, which serves as the basis for the scale, is photographed simultaneously with the boulder whose volume is to be estimated. The scale reference may be a surveying pole, or any object of known size. Alternatively, even if the size is unknown, a common object whose entirety fits within any of the first to third images may be used as the scale reference. A common object could be, for example, trees or plants near the boulder, or other boulders.

[0015] (2) Adjusting the scale As mentioned above, the three locations from which images are acquired may differ in distance and altitude from the boulder. Furthermore, angles θ1 and θ2 may also differ. Therefore, the scale may differ between images. To unify the scale across the first to third images, a scale reference is used to adjust the scale. This ensures that in all images, the same length is represented by the same number of data points or pixels, allowing the boulder to be represented at the same scale.

[0016] Furthermore, the rows and columns constituting the data points in each image are not necessarily in a horizontal or vertical direction. If the imaging device is tilted when acquiring the image, the rows and columns constituting the data points will be shifted from the horizontal or vertical direction. If this shift is significant, the tilt of the first to third images may be corrected, for example, by using a scale reference.

[0017] (3) Setting of occupied area Subsequently, in each image, trim the area occupied by the boulder. Trimming is performed by setting the occupied area in each image. The occupied area is set as a rectangular area that overlaps the boulder and occupies an area of 80% or more and 120% or less, 85% or more and 115% or less, or 90% or more and 110% or less of the area of the boulder. As shown in Figure 3, the vertices of the occupied area may be located on the contour of the boulder or may not overlap the contour. Alternatively, the occupied area may be set such that its four sides are inscribed in or circumscribed around the area occupied by the boulder. Thereby, in each image, an occupied area approximating the boulder can be obtained as two-dimensional information. Note that in each image, it is preferable to set the occupied area such that a pair of opposing vertices do not overlap in the vertical or horizontal direction.

[0018] A schematic diagram of the occupied areas (hereinafter, also referred to as the first occupied area, the second occupied area, and the third occupied area, respectively) set in the first image to the third image is shown in Figure 4. As shown in Figure 4, the vertices of these occupied areas are expressed using a local coordinate system independent between images. This local coordinate system is set as the xz coordinate for convenience in the first image. On the other hand, in the second and third images, the local coordinate system is set as the yz coordinate. The local coordinate system may be set such that the x-axis and the y-axis are perpendicular to each other to form a horizontal plane, and the z-axis is in the vertical direction. Alternatively, when pixels or data points are arranged in a matrix, the array direction of the matrix may be used as the x-axis, y-axis, or z-axis.

[0019] For example, the first occupied area is defined by the bottom left, bottom right, top right, and top left vertices V1 LL , V1 RL , V1 RU , V1 LU . The first image includes x-coordinate and z-coordinate information, and the local coordinates of the vertices V1 LL , V1 RL , V1 RU , V1 LU are respectively (x LL (1) , z LL (1) ), (x RL (1),z RL (1) ), (x RU (1) ,z RU (1) ), (x LU (1) ,z LU (1) It can be represented as ). Vertex V1 LL , V1 RL , V1 RU , V1 LU The local coordinates are V1, where the origin is V1 LL Therefore, it can be determined using the number of data points or pixels that make up the first pixel.

[0020] Similarly, the second occupied region is the vertices V2, which are located in the lower right, upper right, upper left, and lower left corners. RL , V2 RU , V2 LU , V2 LL Defined by: The second image contains y-coordinate and z-coordinate information, and vertex V2 RL , V2 RU , V2 LU , V2 LL The local coordinates are (y RL (2) ,z RL (2) ), (y RU (2) ,z RU (2) ), (y LU (2) ,z LU (2) ), (y LL (2) ,z LL (2) It can be represented as ). Vertex V2 RL , V2 RU , V2 LU , V2 LL The local coordinates are V2, with the origin at V2. RL Therefore, it can be determined using the number of data points or pixels that make up the second pixel.

[0021] Similarly, the third occupied region is the vertex V3 of the bottom left, bottom right, top right, and top left. LL , V3 RL , V3RU , V3 LU Defined by: The third image contains y-coordinate and z-coordinate information, and vertex V3 LL , V3 RL , V3 RU , V3 LU The local coordinates are (y LL (3) ,z LL (3) ), (y RL (3) ,z RL (3) ), (y RU (3) ,z RU (3) ), (y LU (3) ,z LU (3) It can be represented as ). Vertex V3 LL , V3 RL , V3 RU , V3 LU The local coordinates are V3, where the origin is V3 LL Therefore, it can be determined using the number of data points or pixels that make up the third pixel.

[0022] The occupied regions and the coordinates of their vertices are summarized in Table 1 below. As mentioned above, in each image, it is preferable to set the occupied region such that opposing pairs of vertices do not overlap in the vertical or horizontal directions. More specifically, it is preferable to set the first occupied region so that the x-coordinates or z-coordinates of opposing vertices do not coincide. It is preferable to set the second and third occupied regions so that the y-coordinates or z-coordinates of opposing vertices do not coincide. By setting the occupied regions in this way, the bottom-left, bottom-right, top-right, and top-left vertices of each occupied region are uniquely determined. [Table 1]

[0023] (4) Construction of an approximate hexahedron Continuing, using the occupied areas set in each image, construct a hexahedron that approximates the boulder. This approximate hexahedron is arranged in the overall XYZ coordinate system independent of the local coordinate system and is defined by eight vertices, as shown in FIG. 5. The overall XYZ coordinate system is composed of an X-axis, a Y-axis, and a Z-axis that are orthogonal to each other, and the X-axis, Y-axis, and Z-axis are parallel to the x-axis, y-axis, and z-axis of the local coordinates, respectively. The approximate hexahedron is constructed by virtually arranging and merging the vertices of the three occupied areas in the overall XYZ coordinate system. However, the shape information of the boulder obtained from the first image, the second image, and the third image does not include all the shape information of the boulder and lacks the shape information of the boulder in the blind spots from the first point, the second point, and the third point. Therefore, several assumptions are made as described below to construct the approximate hexahedron. Hereinafter, to distinguish from the vertices of the first to third occupied areas, the vertices of the approximate hexahedron are called nodes. Therefore, the approximate hexahedron is defined by nodes N1 to N8. Also, the coordinates in the local coordinate system are represented using lowercase x, y, z, and the coordinates in the overall coordinate system are represented using uppercase X, Y, Z.

[0024] As one assumption, fuse the first occupied area and the second occupied area to place node N1. At this time, assume that the local coordinates of vertex V1 LL and the local coordinates of vertex V2 RL are the origin of the same coordinates in the overall coordinates. In constructing the approximate hexahedron, instead of setting the origin of the overall coordinates as node N1, each occupied area may be fused with node N2 as the origin of the overall coordinates. In the following description, a method of constructing the approximate hexahedron with node N1 as the origin of the overall coordinates will be described.

[0025] As one assumption, the x coordinate of vertex V2 RL of the second occupied area and the x coordinate of vertex V2 LL are the same as the x coordinate of vertex V1 LL of the first occupied area, and the x coordinate of vertex V2 RU of the second occupied area and the x coordinate of vertex V2 LU are the same as the x coordinate of vertex V1 LU of the first occupied area. Similarly, the x coordinate of vertex V3​​RL The x - coordinate of RL is the same as the x - coordinate of vertex V1 of the first occupied region and the x - coordinate of vertex V3 of the third occupied region LU and vertex V3 RU The x - coordinate of RU is the same as the x - coordinate of vertex V1 of the first occupied region. Therefore, the local coordinates of each vertex in Table 1 are shown in Table 2 under the above assumptions. Hereinafter, a method for constructing an approximate hexahedron based on this assumption will be specifically described.

Table 2

[0026] First, fuse the first occupied region and the second occupied region. Specifically, as shown in FIG. 6, place vertex V1 of the first occupied region LL and vertex V2 of the second occupied region RL in the XYZ global coordinate system and define these vertices as node N1. Also, set node N1 as the origin of the global coordinates.

[0027] Next, place vertex V2 of the second occupied region LL as node N4 in the global coordinate system. At this time, the X - coordinate of node N4 is the same as the X - coordinate of node N1. Similarly, place vertex V2 of the second occupied region LU as node N8 in the global coordinate system. At this time, the X - coordinates of node N5 and N8 are the same as the x - coordinate of vertex V1 of the first occupied region LU . Thus, the XYZ coordinates of node N1 in the XYZ global coordinate system are represented as (X,Y,Z)=(0,0,0), the XYZ coordinates of node N4 are represented as (X,Y,Z)=(x LL (1) ,y LL (2) ,z LL (2) ), and the XYZ coordinates of node N8 are represented as (X,Y,Z)=(x LU (1) ,y LU (2) ,z LU (2) ).

[0028] Next, we place node N5 in the global coordinate system. Specifically, the upper left vertex V1 of the first occupied region. LU and the upper right vertex V2 of the second occupied region RU They are merged to define a single node N5. Vertex V1 LU x coordinate and vertex V2 RU The y-coordinates of are obtained from the first occupied region and the second occupied region, respectively. Therefore, the X and Y coordinates of node N5 are obtained from vertex V1 LU x coordinate and vertex V2 RU Corresponding to the y coordinate, and each x LU (1) , y RU (2) It is represented as follows. On the other hand, the Z coordinate of node N5 is given by vertex V1 LU and vertex V2 RU This corresponds to the z-coordinate of vertex V1. LU and vertex V2 RU The z-coordinates do not necessarily coincide (Figure 6(A)). This is because the altitude of the point where the first and second images are acquired may be different, and the vertex V1 selected in the setting of the occupied area LU and vertex V2 RU The reasons include the possibility that these are not necessarily the same location on the boulder, and that errors may be present in the scaling adjustment. Therefore, the Z coordinate of node N5 is set to vertex V1 LU and vertex V2 RU The average value of the z coordinate (z LU (1) +z RU (2) We adopt ) / 2. Through the above operations, the overall coordinates of node N5 are defined as shown in Figure 6(B), and the XYZ coordinates of node N5 are (X,Y,Z)=(x LU (1) ,y RU (2) ,(z LU (1) +z RU (2) It is expressed as ) / 2).

[0029] Based on the above, the first occupied region and the second occupied region are merged, and node N1, node N 4、 The global coordinates of nodes N8 and N5 are obtained (Figure 6(B)).

[0030] Next, the first occupied region and the third occupied region are merged (Figure 7). When the first occupied region and the second occupied region are merged, node N1 is the origin, and the lower left vertex V1 of the first occupied region is the origin. LL and the lower right vertex V2 of the second occupied region RL Assuming that and were the same coordinate system, the Z coordinates of nodes N4, N8, and N5 could be obtained using the z coordinates of the vertices corresponding to each node. However, when the first occupied region and the third occupied region merged, the lower right vertex V1 of the first occupied region RL And the vertex V3 in the lower left of the third occupied region. LL Since we do not assume that the coordinates are the same, the Z coordinates of nodes N2, N3, N7, and N6 are obtained by using the z coordinates of the vertices corresponding to each node.

[0031] Node N2 is placed in the global coordinate system (Figure 7). Specifically, vertex V1 in the lower right of the first occupied region. RL and the bottom left vertex V3 of the third occupied region LL We merge them to define node N2. Vertex V1 RL x coordinate and vertex V3 LL From the y-coordinate of vertex V1, the X and Y coordinates of node N2 are obtained. On the other hand, the Z coordinate of node N2 is obtained from vertex V1 RL The z-coordinate of and vertex V3 LL The z-coordinate of vertex V1 is a possible value. RL The z-coordinate of is the vertex V1 corresponding to node N1, which is the origin. LL It has the same local coordinate system as, and vertex V3 LL The z-coordinate of is the vertex V1 corresponding to node N1, which is the origin. LL Since it does not share the same local coordinate system, vertex V1 RL The z-coordinate of node N2 is obtained from the z-coordinate of . Thus, the global coordinates of node N2 are defined, and the XYZ coordinates of node N2 are (X,Y,Z)=(x RL (1) ,y LL (3) ,z RL (1) It is represented as follows:

[0032] Next, we place node N6 in the global coordinate system. Specifically, the upper right vertex V1 of the first occupied region. RU and the upper left vertex V3 of the third occupied region LU They are merged to define a single node N6. Vertex V1 RU x coordinate and vertex V3 LU From the y-coordinate of vertex V1, the X and Y coordinates of node N6 are obtained. Therefore, the X and Y coordinates of node N6 are obtained from vertex V1 RU x coordinate and vertex V3 LU Corresponding to the y coordinate, and each x RU (1) , y LU (3) It is represented as follows. On the other hand, the Z coordinate of node N6 is given by vertex V1 RU and vertex V3 LU This corresponds to the z-coordinate of . However, similar to the definition of node N5, vertex V1 RU and vertex V3 LU The z-coordinate of vertex V1 does not necessarily coincide. Therefore, the z-coordinate of node N6 in the global XYZ coordinate system is RU and vertex V3 LU The average value of the z coordinate is used. The former is z RU (1) However, the vertex V3, which is the origin in the local coordinate system of the third image in Figure 4, is... LL Since the coordinates of are not at the origin in the global coordinate system, vertex V3 LU The Z coordinate of vertex V3 LU The z coordinate of vertex V3 LL Add the z coordinate (z LU (3) +z LL (3) ) And, the Z coordinate of node N6 is vertex V1 RU and vertex V3 LU To adopt the average value of the z coordinate, (z RU (1) +(z LU (3) +z LL (3) We adopt )) / 2. Thus, the global coordinates of node N6 are defined, and the XYZ coordinates of node N6 are (X,Y,Z)=(x RU (1) ,y LU (3) ,(zRU (1) +(z LU (3) +z LL (3) It is expressed as )) / 2).

[0033] In the definition of node N7, which is one of the remaining two nodes of the approximate hexahedron, we assume that the x-coordinate of node N7 is the same as the x-coordinate of node N6. Therefore, the x-coordinate of node N7 is x RU (1) It is represented as follows. Node N7 is vertex V3 RU Corresponding to this, its Y coordinate is obtained from the third occupied region, therefore vertex V3 RU The y-coordinate of is y RU (3) It is represented as follows. On the other hand, the Z coordinate is also the vertex V3 of the third occupied region. RU Although it is obtained from the z coordinate, the origin of the local coordinates of the third occupied region is not the origin of node N1, therefore the vertex V3 of the third occupied region RU z coordinate (z RU (3) ) at vertex V3 LL z coordinate (z LL (3) ) is added. Therefore, the Z coordinate of node N7 is z RU (3)) +z LL (3) This is represented by the above operation. Through this operation, the global coordinates of node N7 are defined, and the XYZ coordinates of node N7 are (X,Y,Z)=(x RU (1) ,y RU (3) ,(z RU (1) +(z RU (3) +z LL (3) It is expressed as )) / 2).

[0034] Similar to the definition of node N7, in the definition of the remaining node N3, we assume that the X-coordinate of node N3 is the same as the X-coordinate of node N2. Therefore, the X-coordinate of node N3 is x RL (1) It is represented as follows: Node N3 is vertex V3 RLCorresponding to this, its Y and Z coordinates are obtained from the third occupied region. And since the origin of the local coordinates of the third occupied region is not the origin of node N1, the vertex V3 of the third occupied region RL z coordinate (z RL (3) ) at vertex V3 LL z coordinate (z LL (3) ) is added. Therefore, the Z coordinate of node N3 is z RL (3) +z LL (3) This is expressed as follows. Through the above operations, the global coordinates of node N8 are defined, and the XYZ coordinates of node N3 are (X,Y,Z)=(x RL (1) ,y RL (3) ,(z RL (3) +z LL (3) It is represented as )).

[0035] By performing the above operations, an approximate hexahedron is constructed in the global XYZ coordinate system (Figure 6(B)). The XYZ coordinates of nodes N1 to N8 are summarized in Table 3. [Table 3]

[0036] (5) Calculation of the volume of an approximate hexahedron The volume of the obtained approximate hexahedron can be calculated by dividing the approximate hexahedron into six square pyramids, each with an arbitrary point Pc inside as a vertex, and summing the volumes of all the square pyramids. The internal point Pc is defined as follows:

number

[0037] For example, the volume V of a square pyramid with the plane formed by nodes N1, N4, N5, and N8 as its base and point Pc as its vertex (see Figure 8) is expressed by the following formula.

number

[0038] In this method, the shape of the occupied area set in each image is not necessarily limited to a rectangle. For example, as shown in Figure 9, in the first image, the second image, and the third image, in addition to the bottom left, bottom right, top right, and top left vertices, vertex V1 T , V2 T , V3 T A pentagonal occupied region defined by [the formula] may be set. Alternatively, although not shown in the illustration, an occupied region of a polygon with 6 or more sides may be formed. It is preferable that the number of vertices in the occupied region is the same among the first image, the second image, and the third image.

[0039] When defining a pentagonal occupied region, the approximate polyhedron is an approximate 9-hedron defined by nodes N1 to N9 (see Figure 10). The X coordinate of node N9 is the same as vertex V1 of the first occupied region. T It can be expressed in terms of the x-coordinate. The y-coordinate of node N9 is the vertex V2 of the second occupied region. T The y-coordinate and the vertex V3 of the third occupied region T The average of the y coordinates can be used. The Z coordinate of node N9 is (1) the vertex V1 of the first occupied region. T (2) z coordinate of the second occupied region V2 T (3) z coordinate, vertex V3 of the third occupied region T (4) The z-coordinate of and the vertex V1 of the region occupied by the first image. RL You can use the value obtained by dividing the sum of the z coordinates by 3.

[0040] The method for calculating the volume of the approximate 9-hedron is also arbitrary. For example, the volume of the hexahedron defined by nodes N1 to N8 can be calculated using the method described above. The volume of the tetrahedron defined by nodes N5 to N9 can be calculated by dividing it into four triangular pyramids with point P'c as the vertex, and then summing the volumes of all the triangular pyramids. The sum of the volumes of these hexahedron and tetrahedron is the volume of the approximate 9-hedron.

[0041] 2. Programs, computer-readable storage media, and computers Another embodiment of the present invention is a program for estimating the volume of the aforementioned object (a volume estimation program). The volume estimation program may include not only machine code, such as that generated by a compiler, but also high-level language code executed by a server using an interpreter or the like.

[0042] Furthermore, a computer-readable recording medium on which this volume estimation program is recorded is also one embodiment of the present invention. Examples of computer-readable recording media include magnetic media such as hard disks, flexible disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices such as ROMs, RAMs, and flash memory that are configured to store and execute the volume estimation program.

[0043] Another embodiment of the present invention is a computer equipped with the volume estimation program described above. This computer is a device having communication and calculation functions, and may be a notebook computer, a desktop computer, or a portable communication terminal such as a tablet computer.

[0044] As shown in the block diagram of Figure 11, the computer 100 includes a control unit 102 that controls the operation of the computer 100, as well as an input unit 104, an output unit 106, a transmitting / receiving unit 108, a storage unit 110, an audio output unit 112, an input port 114, etc., all controlled by the control unit 102. The storage unit 110 stores the basic application program for operating the computer 100, along with a volume estimation program and the like. The control unit 102 is equipped with a processor such as a central processing unit (CPU) and controls various processes executed by the computer 100 by operating the basic application program and volume estimation program stored in the storage unit 110. This makes it possible to perform volume estimation of an object according to this method. The input unit 104 is a user interface used to input commands and information to the computer 100, and is typically a keyboard, touch panel, mouse, or a combination thereof. The output unit 106 provides various data stored in the storage unit 110 as images or printed materials, and is an output device such as a liquid crystal display device or an organic electroluminescent display device, or a printer. If a touch panel is used as the input unit 104, the touch panel should be placed on the display device. The transmitting / receiving unit 108 has the function of communicating with external devices such as an imaging device via a network. The audio output unit 112 is a speaker that has the function of generating various sounds. The input port 114 is a wired interface that can be physically connected to a storage medium such as a memory card, thereby enabling the storage medium containing images in the imaging device to be connected to the computer 100.

[0045] The volume estimation program is installed on the storage unit 110 from a computer-readable medium. Alternatively, the volume estimation program may be downloaded to the storage unit 110 from a network.

[0046] The method described above allows for the estimation of the volume of a boulder from images of the boulder taken from three or more locations. This method cannot determine the exact volume of the boulder or the volume of the portion buried in the ground. However, general civil engineering construction management manuals calculate the volume of the portion of the boulder exposed from the ground (provisional volume), and then calculate the actual volume by measuring the height, length, and width of the side and cross-sectional shapes for each exposed section, assuming an approximate average cross-sectional shape. Therefore, this method can be considered a simple method for determining the provisional volume of a boulder. Furthermore, this method allows for the estimation of the volume of a boulder in a very short time by simply using images taken from three locations, without the need for general surveying equipment. As a result, it does not place a heavy burden on workers and does not expose them to the dangers associated with on-site surveying, allowing for the estimation of the volume (provisional volume) of a large number of boulders in a short time.

[0047] The embodiments described above as examples of the present invention can be combined and implemented as appropriate, insofar as they do not contradict each other. Modifications based on these embodiments, in which those skilled in the art have added, deleted, or modified components as appropriate, are also included within the scope of the present invention, as long as they retain the essence of the invention.

[0048] Any effects or benefits other than those brought about by the embodiments described above, if they are clear from the description herein or easily predictable to those skilled in the art, are naturally understood to be brought about by the present invention. [Explanation of Symbols]

[0049] 100: Computer, 102: Control Unit, 104: Input Unit, 106: Output Unit, 108: Transceiver Unit, 110: Memory Unit, 112: Audio Output Unit, 114: Input Port

Claims

1. Prepare a first image including the object and scale reference obtained from a first location, a second image including the object and scale reference obtained from a second location, and a third image including the object and scale reference obtained from a third location. Using the aforementioned scale reference, the scales of the first image, the second image, and the third image are unified. In the first image, the second image, and the third image, a first, second, and third rectangular occupied area are defined, respectively, that occupy 80% to 120% of the area of ​​the object. In each of the first, second, and third images, the x and z coordinates of the vertices of the first occupied region, the y and z coordinates of the vertices of the second occupied region, and the y and z coordinates of the vertices of the third occupied region are determined. Using the first occupied region, the second occupied region, and the third occupied region, a hexahedron approximating the object is constructed in the global XYZ coordinate system independent of the x, y, and z coordinates, and This includes calculating the volume of the hexahedron, A method for estimating the volume of an object, wherein the X, Y, and Z axes of the aforementioned XYZ global coordinate system are parallel to the x-axis, y-axis, and z-axis, respectively.

2. The first point is located first upward relative to the object, The second point is located in a second direction upward at an angle of 20° to 170° with respect to the first direction. The method according to claim 1, wherein the third point is located in a third direction upward at an angle of -20° to -170° with respect to the first direction.

3. The setting of the first occupied region is carried out such that the x-coordinate or z-coordinate of opposing vertices in the first occupied region is different. The setting of the second occupied region is carried out such that the y-coordinate or z-coordinate of opposing vertices in the second occupied region is different. The method according to claim 1, wherein the setting of the third occupied region is carried out such that the y-coordinate or z-coordinate of opposing vertices of the third occupied region are different.

4. In the processing unit, The scales of the first, second, and third images, which include objects and scale references acquired at the first, second, and third locations respectively, are unified using the aforementioned scale reference. In each of the first, second, and third images, the x and z coordinates of the vertices of the first occupied region, the y and z coordinates of the vertices of the second occupied region, and the y and z coordinates of the vertices of the third occupied region are determined for the first, second, and third occupied regions of a rectangle that occupies 80% to 120% of the area of ​​the object set in each of the first, second, and third images. Using the first occupied region, the second occupied region, and the third occupied region, a hexahedron approximating the object is constructed in the global XYZ coordinate system independent of the x, y, and z coordinates, and This includes performing the calculation of the volume of the aforementioned hexahedron, A program for estimating the volume of an object, wherein the X, Y, and Z axes of the aforementioned XYZ global coordinate system are parallel to the x-axis, y-axis, and z-axis, respectively.

5. A computer-readable storage medium on which the program described in claim 4 is recorded.

6. A computer equipped with the program described in claim 4.

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