Information processing systems, information processing methods, and programs

Abstract

To allow for easy detection of the shape and dimensions of an object from an image.SOLUTION: An information processing system is provided, comprising an image acquisition unit for acquiring multiple images of an object captured from multiple positions, a vertex acquisition unit configured to receive designation of positions of vertices of the object in at least one of the multiple images, and a model generation unit configured to generate a three-dimensional model consisting of vertices and edges connecting the vertices on the basis of the positions of the vertices and the multiple images.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an information processing system, an information processing method, and a program.

Background Art

[0002] Patent Document 1 discloses a technique for measuring the shape dimensions of a roof as an object from an image captured by a camera mounted on an aircraft, and calculating the area of the roof from such shape dimensions.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to measure the shape of a roof from an image, it is necessary to capture an object from various angles.

[0005] The present invention has been made in view of such a background, and an object thereof is to provide a technique capable of easily detecting the shape dimensions of an object from an image.

Means for Solving the Problems

[0006] The main invention of the present invention for solving the above problems is an information processing system, comprising: an image acquisition unit that acquires a plurality of images obtained by capturing an object from a plurality of positions; a vertex acquisition unit that receives a designation of the position of a vertex of the object in at least one of the plurality of images; and a model creation unit that creates a three-dimensional model constituted by the vertex and sides connecting the vertices based on the position of the vertex and the plurality of images.

[0007] Further issues and solutions disclosed in this application will be made clear in the section on embodiments of the invention and in the drawings. [Effects of the Invention]

[0008] According to the present invention, the shape and dimensions of an object can be easily detected from an image. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram illustrating the outline of this embodiment. [Figure 2] This figure shows a schematic diagram of the information processing system 1 according to this embodiment. [Figure 3] This figure shows an example of the hardware configuration of the information processing terminal 10. [Figure 4] This figure shows an example of the software configuration of the information processing terminal 10. [Figure 5] This figure shows an example of how image information 121 is displayed. [Figure 6] This figure shows an example of generating vertex information and line segment information. [Figure 7] This diagram illustrates an example of how to evaluate the degree of torsion. [Figure 8] A flowchart illustrating an example of the processing flow of Information Processing System 1. [Figure 9] This figure shows a schematic of another information processing system 1' according to a different embodiment. [Modes for carrying out the invention]

[0010] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0011] <Overview>

[0012] FIG. 1 is a diagram for explaining the outline of the present embodiment. The information processing system 1 according to the present embodiment attempts to analyze the structure of the roof 101 of the building 100, which is the object, for example, by obtaining the area of the flat part and the length of parts (such as eaves and ridges), and creating a roof plan view.

[0013] In the information processing system 1 of the present embodiment, the camera 31 attached to the flying object 30 flying above the roof 101 images the roof 101 as the object.

[0014] GCP (ground control point) 110 is arranged near the building 100. The GCP 110 is arranged at a position on the ground that is visible from above. The size of the GCP 110 is given in advance, and by detecting the GCP 110 from the captured image, the measurement of the roof 101 can be performed.

[0015] In the information processing system 1 of the present embodiment, the flying object 30 images the roof 101 from a plurality of different altitudes (in the example of FIG. 1, two altitudes H1 and H2 are shown, but it may be three or more altitudes). By imaging the roof 101 from a plurality of altitudes, the three-dimensional structure of the roof 101 is calculated.

[0016] <System Configuration> FIG. 2 is a diagram showing the outline of the information processing system 1 according to the present embodiment. As shown in the figure, the information processing system 1 includes an information processing terminal 10.

[0017] The information processing terminal 10 according to the present embodiment is implemented by a so-called tablet-sized small computer. In other embodiments, the information processing terminal 10 may be realized by a portable information processing terminal such as a smartphone or a game machine, or may be realized by a stationary information processing terminal such as a personal computer. Further, the information processing terminal 10 may be realized by a plurality of hardware and have a configuration in which functions are distributed among them.

[0018] FIG. 3 is a diagram showing an example of the hardware configuration of the information processing terminal 10. As shown in the figure, the information processing terminal 10 includes a control unit 11 and a touch panel unit 12 which is a display unit.

[0019] The control unit 11 mainly includes a processor 11a, a memory 11b, a storage 11c, a transmission / reception unit 11d, and an input / output unit 11e, and these are electrically connected to each other via a bus 11f.

[0020] The processor 11a is an arithmetic unit that controls the operation of the control unit 11, controls the transmission and reception of data between each element, and performs processes necessary for program execution.

[0021] In this embodiment, this processor 11a is, for example, a CPU (Central Processing Unit), and executes a program stored in the storage 11c described later and developed in the memory 11b to perform each process.

[0022] The memory 11b includes a main memory device composed of a volatile memory device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory device composed of a non-volatile memory device such as a flash memory or an HDD (Hard Disc Drive).

[0023] This memory 11b is used as a work area for the processor 11a, while storing a BIOS (Basic Input / Output System) executed at the startup of the control unit 11 and various setting information.

[0024] The storage 11c stores programs and information used for various processes. For example, when the user operates a flying object for imaging the image information of the roof 101 via the information processing terminal 10, a program for controlling the flight of such a flying object may be stored in the storage 11c.

[0025] The transmitting / receiving unit 11d connects the control unit 11 to a network such as the Internet, and may be equipped with a short-range communication interface such as Bluetooth® or BLE (Bluetooth Low Energy).

[0026] In this embodiment, for example, a control signal for controlling the flight of the aircraft 10 may be transmitted to the aircraft 10 via the transmitting / receiving unit 11d.

[0027] The input / output unit 11e is an interface to which input / output devices are connected, and in this embodiment, the touch panel unit 12 is connected.

[0028] The bus 11f transmits, for example, address signals, data signals, and various control signals between the connected processor 11a, memory 11b, storage 11c, transceiver 11d, and input / output unit 11e.

[0029] The touch panel unit 12 is an example of a display unit and includes a display surface 12a on which acquired video and images are displayed. In this embodiment, this display surface 12a accepts information input by contact with the display surface 12a and is implemented using various technologies such as resistive touch or capacitive touch.

[0030] For example, the user can input line segment information and node information for the image displayed on the display surface 12a via the touch panel unit 12. Additionally, display information output by the control unit 11 is displayed on the display surface 12a.

[0031] Figure 4 shows an example of the software configuration of the information processing terminal 10. The processor 11a includes an image acquisition unit 111, a model creation unit 112, a calculation unit 113, a vertex acquisition unit 114, a twist evaluation unit 115, a determination unit 116, a correction unit 117, and a drawing creation unit 118. The storage 11c includes an input information database 120.

[0032] The input information database 120 stores image information 121, vertex information 123, and line segment information 125.

[0033] Image information 121 is an image of the object. In this embodiment, image information 121 is an image of the roof 101 taken by the camera 31 of the aircraft 30. The captured image of image information 121 includes the roof 101 and the GCP 110. Image information 121 related to multiple images of the object taken from multiple different altitudes is registered. The multiple images may be images taken at different altitudes at the same location. The field of view of the camera 31 may be the same.

[0034] The vertex information 123 and line segment information 125 are, for example, information about vertices 102 and line segments 103 for demarcating a polygon (region) corresponding to a roof 101. Line segments 103 are part of the outer and inner boundaries of the polygon that demarcates the object, and correspond to the constituent parts of the object. For example, if the object is a roof 101, the constituent parts corresponding to line segments 103 are eaves, ridges, etc. Vertex 102 means a vertex that connects multiple such line segments 103. If the object is a roof 101, the constituent parts corresponding to vertex 102 are the ends (tops) of eaves, ridges, etc.

[0035] The image acquisition unit 111 acquires images taken by the aircraft 30. The image acquisition unit 111 acquires multiple images taken from different altitudes. The image acquisition unit 111 can acquire a first image taken by the aircraft 30 at a first altitude (for example, H1 in Figure 1) of the object (roof 101). The image acquisition unit 111 can also acquire a second image taken by the aircraft 30 at a second altitude (for example, H2 in Figure 1) of the object (roof 101).

[0036] The image acquisition unit 111 may communicate with the aircraft 30 and acquire images from the camera 31, or it may read image information that has been previously registered in the input information database 120.

[0037] Furthermore, the image acquisition unit 111 can also acquire various types of information from the input information database 120. For example, the image acquisition unit 111 can acquire image information 121, vertex information 123, and line segment information 125 contained in the input information database 120.

[0038] The vertex acquisition unit 114 accepts the specification of the positions of the vertices of the polygon that defines the object on the captured image of the object. The vertex acquisition unit 114 can acquire three or more vertices included in the face portion (roof 101) included in the building 100. The vertex acquisition unit 114 may, for example, accept the specification of the positions of vertices on the image from the user, or it may detect the polygon from the image by image recognition processing and acquire the vertices of the polygon. Such image recognition processing may use, for example, known machine learning methods such as deep learning. Image recognition processing can be performed on the processor 11a of the information processing terminal 10. The vertex acquisition unit 114 can, for example, acquire vertices for both the first image (altitude H1) and the second image (altitude H2). The vertex acquisition unit 114 may acquire vertices for one image and then estimate the vertices in the other image by correcting the position of the vertices according to the altitude and the field of view of the camera 31, or it may map the vertices of one image onto the other image by feature point mapping between images.

[0039] Figure 5 shows an example of the display of image information 121. Based on the acquired image information 121, an image including the roof 101 of the building 100 is displayed on the display surface 12a. The user operating the information processing terminal 10 can visually confirm the structure of the roof 101 from the image displayed on the display surface 12a.

[0040] The vertex information 123 and line segment information 125 may be generated, for example, by a user operating the information processing terminal 10 through operations on the display surface 12a. Specifically, when an image of the roof 101 is displayed on the display surface 12a, the user may perform an operation on the touch panel 12 to set line segments 103 and vertices 102 corresponding to the constituent parts of the roof 101.

[0041] Figure 6 shows an example of the generation of vertex information and line segment information. For example, vertices 102a to 102l and line segments 103a to 103o are set by the user's operation on the touch panel 12. In this case, vertices 102a to 102l and line segments 103a to 103o may be set by the user inputting such that vertices 102 and line segments 103 are superimposed on the displayed image of the roof 101. In this case, the polygon that defines the object refers to the polygon composed of each line segment 103a to 103o.

[0042] The set vertices 102a to 102l and line segments 103a to 103o are generated as vertex information and line segment information, respectively, and stored in the input information database 117 of the storage 11c.

[0043] In the example shown in Figure 6, vertex information 123 and line segment information 125 are generated by the user's operation on the touch panel 12, but the system is not limited to this example. For example, vertex information and line segment information may be generated by extracting the parts corresponding to vertices 102 and line segments 103 through image recognition processing of an image showing the roof 101. Such image recognition processing may use known machine learning methods such as deep learning. In this case, for example, image recognition processing can be realized by using a learning model relating to an image showing the roof 101 and the constituent parts of the roof 101. Image recognition processing can be performed on the processor 11a of the information processing terminal 10.

[0044] The model creation unit 112 creates a 3D model of an object based on multiple images taken at different altitudes. The model creation unit 112 can create a 3D model based on the positions of vertices on the first and second images acquired by the vertex acquisition unit 114, and the first and second images themselves. For example, the model creation unit 112 can calculate the relative positional relationship and distance of each vertex in real space from the positions of the vertices on the first and second images, based on the position and size of the GCP 110 on the first and second images. For example, the model creation unit 112 can calculate the relative 3D coordinate values ​​(x, y, z) of the vertices according to the field of view of the camera 31, the relative distance from the GCP 110, and the ratio of the size of the GCP 110 in pixels to the actual size of the GCP 110. The model creation unit 112 can calculate the 3D coordinate values ​​of each vertex in 3D space using existing algorithms such as the 5-point algorithm or SfM (Structure from Motion).

[0045] Furthermore, the model creation unit 112 may, for example, use SLAM (Simultaneous Localization and Mapping) technology (especially Visual SLAM) to map feature points on the captured image and create a 3D model using these feature points and vertices 102. For example, the model creation unit 112 can create a 3D model by providing each point, including vertices 102 and feature points, to an algorithm such as SfM. The model creation unit 112 may also correct the 3D model created based on vertices 102 as described above using the feature points. Alternatively, the model creation unit 112 may, for example, create a 3D model based on feature points obtained by Visual SLAM, identify the node (vertex) that is closest to vertex 102 among the nodes (vertices) constituting the created 3D model, and correct the position of the identified node to match the position of vertex 102.

[0046] Furthermore, the model creation unit 112 may calculate the vertex positions as positions on the image, or as relative positions based on a predetermined position (for example, the position of a certain vertex), or, for example, calculate the vertex positions in three-dimensional space from the vertex positions on the first and second images based on the positions and sizes of the GCP 110 on the first and second images.

[0047] The calculation unit 113 calculates at least one of the area of ​​the object (in this embodiment, the roof 101) and the length of a part of the object based on the three-dimensional model. The calculation unit 113 can calculate the length of a part between vertices using the position of each vertex. The calculation unit 113 can calculate the area of ​​a surface part of the object based on the three-dimensional coordinate values ​​of the extension points of polygons that constitute a surface part, such as the roof surface.

[0048] The torsion evaluation unit 115 evaluates the degree of torsion of the polygon defined by the vertices 102. Figure 7 illustrates an example of the evaluation of the degree of torsion. The torsion evaluation unit 115 can, for example, identify a plane P where the sum of the distances D from each of the vertices 102 in the 3D model is minimized, and evaluate the degree of torsion of the surface portion according to these sums of distances D. The plane P can be identified, for example, by the least squares method. The torsion evaluation unit 115 can, for example, evaluate the degree of torsion such that the longer the sum of the distances D, the higher the torsion.

[0049] The determination unit 116 can determine whether the creation of the 3D model has failed based on whether the degree of twisting is above a threshold.

[0050] The correction unit 117 corrects the position (3D coordinate value) of vertex 102. The correction unit 117 can set the position (3D coordinate value) of vertex 102 as the nearest position to vertex 102 on the plane P (the intersection point of a line extended perpendicularly from vertex 102 to plane P and plane P).

[0051] Furthermore, if there are multiple surface portions, the correction unit 117 may correct the position of vertex 102 so that the sum of the twisting degrees for each surface (for example, the sum of the shortest distances D from vertex 102 to plane P) is minimized. The correction unit 117 corrects the position of the 3D coordinate values ​​by, for example, the steepest descent method.

[0052] Furthermore, the correction unit 117 can correct the position of the vertices 102 so that the inclination between the vertices 102 is in a predetermined unit. The predetermined unit can be, for example, an inclination of 1 sun or 0.5 sun. In cases where the slope is determined by a standard, such as with a roof, the inclination between the vertices of the polygon defining the roof, etc., is often in a round unit of the predetermined standard. Therefore, by correcting the coordinate values ​​of the vertices 102 so that the inclination is in that unit, it is expected that the error of the vertices 102 will be corrected.

[0053] The drawing creation unit 118 creates a roof plan based on the 3D model.

[0054] <Operation> Next, the processing flow in the information processing system 1 according to this embodiment will be described. Figure 8 is a flowchart showing an example of the processing flow of the information processing system 1.

[0055] The information processing terminal 10 acquires multiple image information of the object taken from multiple different altitudes (S101), and acquires each vertex 102 of the polygon that defines the object in each image information (S102).

[0056] The information processing terminal 10 detects GCP110 from the image information (S103), and calculates the 3D coordinate values ​​of the vertices 102 using a 5-point algorithm or SfM, etc., according to the position and size of the detected GCP110 on the image and the position of each vertex 102 on the image, to create a 3D model of the object (S104).

[0057] The information processing terminal 10 corrects the three-dimensional coordinate values ​​of vertices 102 (S105). As described above, the information processing terminal 10 can identify a plane P that is the minimum distance from each vertex 102 of the polygon representing the face portion, and correct the three-dimensional coordinate values ​​of vertices 102 so that the total distance D from plane P to vertex 102 is minimized. The information processing terminal 10 can also correct the three-dimensional coordinate values ​​so that the inclination of the parts between vertices 102 is in a predetermined unit (for example, 1 sun or 0.5 sun).

[0058] The information processing terminal 10 calculates the length of the portion between the vertices 102 and the area of ​​the face portion represented by the polygon containing the vertices 102 (S106), and creates a floor plan based on the 3D model (S107).

[0059] As described above, according to the embodiments of the present invention, the shape and dimensions of an object captured in images taken from multiple altitudes can be easily and accurately determined. The aircraft 30 may photograph the object by changing only its altitude without moving its horizontal position. Therefore, even if there are obstacles around the object, the shape of the object can be easily determined.

[0060] Furthermore, in this embodiment, the vertices 102 of the object can be plotted on the captured image before mapping. In conventional SfM, numerous feature points that can be extracted from the image are mapped, which can lead to errors in the accuracy of reconstructing the position of each part of the object. However, in this embodiment, only the 3D position of the plotted vertices 102 needs to be reconstructed, thus reducing errors.

[0061] Although preferred embodiments of the present invention have been described in detail above with reference to the attached drawings, the technical scope of the present invention is not limited to these examples. It is clear to any person with ordinary skill in the art of this disclosure that various modifications or alterations can be conceived within the scope of the technical idea described in the claims, and these are also understood to fall within the technical scope of the present invention.

[0062] In the above embodiment, the information processing system 1 was implemented solely by the information processing terminal 10, but the present invention is not limited to this example. Figure 9 is a schematic diagram of the information processing system 1' according to another embodiment. In the other embodiment, the information processing system 1' includes the information processing terminal 10 and the server 20. In this case, for example, some or all of the functions that were provided by the processor 11a and storage 11c of the information processing terminal 10 according to the above embodiment may be implemented by the processor and storage provided by the server 20.

[0063] Furthermore, although the above embodiment described the case where the object is the roof 101 of a building 100, it may also be a tree or any ground surface, or even an object such as a temporarily stopped car or animal. The constituent parts of the object are appropriately set according to the type of object and the specific structure it has.

[0064] Furthermore, in the above embodiment, a 3D model of the object is created using two images (the first and second images), but it is naturally possible to create a 3D model based on three or more images.

[0065] Furthermore, in the above embodiment, the structure of the roof 101 is analyzed based on images taken by the flying object 10. However, the analysis can also be performed using images taken from different altitudes using methods other than flying objects, such as taking images from different floors of a nearby high-rise building.

[0066] Furthermore, images taken from different altitudes, or images taken with different horizontal movements or orientations, are also acceptable.

[0067] Furthermore, in the above embodiment, the three-dimensional structure of an object is estimated based on multiple images of the same object taken from different altitudes. However, the three-dimensional structure of an object may also be estimated based on multiple images of the same object taken from different positions due to horizontal movement or changes in altitude. In this case as well, by ensuring that the GCP110 is captured, a three-dimensional model of the object (e.g., roof 101) can be created by the same process as in the above embodiment.

[0068] Furthermore, although the above embodiment described the case where the object is the roof 101 of a building 100, it may also be a tree or any ground surface, or even an object such as a temporarily stopped car or animal. The constituent parts of the object are appropriately set according to the type of object and the specific structure it has.

[0069] Furthermore, although the above embodiment involves acquiring images at different shooting altitudes, it is not limited to this; any images taken from different shooting positions will suffice.

[0070] Furthermore, each step in the above embodiment does not necessarily have to be processed chronologically in the order shown in the flowchart. For example, each step in the processing of the above embodiment may be processed in an order different from the order shown in the flowchart, or may be processed in parallel.

[0071] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology according to the present invention may produce other effects that will be apparent to those skilled in the art from the description herein, in addition to or instead of the effects described above.

[0072] <Disclosure Items> Furthermore, this disclosure also includes the following configurations. [Item 1] An image acquisition unit that acquires multiple images of an object taken from multiple locations, In at least one of the plurality of images, a vertex acquisition unit that accepts the specification of the position of the vertices of the object, A model creation unit creates a 3D model composed of vertices and edges connecting those vertices based on the positions of the vertices and the plurality of images, An information processing system characterized by comprising the following features. [Item 2] The information processing system described in item 1, The image acquisition unit acquires multiple images of the object taken from different altitudes. An information processing system characterized by the following. [Item 3] The information processing system described in item 1, The system includes a calculation unit that calculates at least one of the area of ​​the object and the length of a part of the object based on the three-dimensional model. An information processing system characterized by the following. [Item 4] The information processing system described in item 1, The aforementioned object is a roof, The system includes a drawing creation unit that creates a roof plan based on the aforementioned three-dimensional model. An information processing system characterized by the following. [Item 5] The information processing system described in item 1, The vertex acquisition unit acquires three or more vertices included in the face portion included in the object, The system includes a torsion evaluation unit that identifies a plane that minimizes the distance from each of the vertices in the three-dimensional model, and evaluates the degree of torsion of the surface portion according to the distance. An information processing system characterized by the following. [Item 6] The information processing system described in item 5, The system includes a determination unit that determines whether the creation of the 3D model has failed based on whether the degree of twisting is above a threshold. An information processing system characterized by the following. [Item 7] The information processing system described in item 5, The system includes a correction unit that corrects the position of the vertex to the position on the plane closest to the vertex. An information processing system characterized by the following. [Item 8] The information processing system described in item 5, The system includes a correction unit that corrects the position of the vertices so that the distance between the vertices is in a predetermined unit. An information processing system characterized by the following. [Item 9] The steps include acquiring multiple images of the object taken from multiple locations, The steps include receiving a specification of the position of the vertices of the object in at least one of the plurality of images, A step of creating a three-dimensional model composed of vertices and edges connecting those vertices, based on the positions of the vertices and the plurality of images. An information processing method characterized in that an information processing device performs the following. [Item 10] The steps include acquiring multiple images of the object taken from multiple locations, The steps include receiving a specification of the position of the vertices of the object in at least one of the plurality of images, A step of creating a three-dimensional model composed of vertices and edges connecting those vertices, based on the positions of the vertices and the plurality of images. A program to cause an information processing device to execute. [Explanation of Symbols]

[0073] 1. Information Processing System 10 Information Processing Terminals 11 Control Unit 102 vertices

Claims

1. An image acquisition unit that acquires multiple images of an object taken from multiple different locations, A vertex acquisition unit that receives the specification of the positions of three or more vertices included in a surface portion included in the object in at least one of the plurality of images, A model creation unit calculates the three-dimensional coordinate values ​​of the vertices based on the positions of the vertices and the plurality of images, and creates a three-dimensional model composed of the vertices and the edges connecting the vertices. A torsion evaluation unit identifies a plane that minimizes the sum of the distances from each of the three-dimensional coordinate values ​​of at least four vertices in the three-dimensional model, and evaluates the degree of torsion of the surface portion according to the sum of the distances, An information processing system characterized by comprising the following features.

2. The information processing system according to claim 1, The image acquisition unit acquires multiple images of the object taken from different altitudes. An information processing system characterized by the following.

3. The information processing system according to claim 1, The system includes a calculation unit that calculates at least one of the area of ​​the object and the length of a part of the object based on the three-dimensional model. An information processing system characterized by the following.

4. The information processing system according to claim 1, The aforementioned object is a roof, The system includes a drawing creation unit that creates a roof plan based on the aforementioned three-dimensional model. An information processing system characterized by the following.

5. The information processing system according to claim 1, The torsion evaluation unit evaluates the degree of torsion such that it increases as the total distance increases. The system includes a determination unit that determines whether the creation of the three-dimensional model has failed based on whether the degree of twisting is above a threshold. An information processing system characterized by the following.

6. The information processing system according to claim 1, The system includes a correction unit that corrects the position of the vertex to the position on the plane closest to the vertex. An information processing system characterized by the following.

7. The information processing system according to claim 1, The system includes a correction unit that corrects the position of the vertices so that the distance between the vertices is in a predetermined unit. An information processing system characterized by the following.

8. The steps include acquiring multiple images of the object taken from multiple different locations, The steps include receiving the specification of the positions of three or more vertices included in a surface portion included in the object in at least one of the plurality of images, The steps include: calculating the three-dimensional coordinate values ​​of the vertices based on the positions of the vertices and the plurality of images, and creating a three-dimensional model composed of the vertices and the edges connecting the vertices; The steps include identifying a plane that minimizes the sum of the distances from each of the three-dimensional coordinate values ​​of at least four vertices in the three-dimensional model, and evaluating the degree of twist of the surface portion according to the sum of the distances, An information processing method characterized in that an information processing device performs the following.

9. The steps include acquiring multiple images of the object taken from multiple different locations, The steps include receiving the specification of the positions of three or more vertices included in a surface portion included in the object in at least one of the plurality of images, A step of creating a three-dimensional model composed of the vertices and edges connecting the vertices based on the positions of the vertices and the plurality of images, The steps include identifying a plane that minimizes the sum of the distances from each of the three-dimensional coordinate values ​​of at least four vertices in the three-dimensional model, and evaluating the degree of twist of the surface portion according to the sum of the distances, A program to cause an information processing device to execute.

Images