Information processing method, computer program, and information processing device

Abstract

[Problem] To provide an information processing method, a computer program, and an information processing device that make it possible to efficiently perform imaging by a moving body. [Solution] An information processing method according to the present disclosure involves: acquiring image data obtained by imaging a subject to be imaged at an imaging position in accordance with a first imaging parameter using a camera provided to a first moving body; determining a re-imaging position at which the subject to be imaged is imaged again on the basis of the image data; determining a second imaging parameter different from the first imaging parameter as an imaging parameter for imaging the subject to be imaged at the re-imaging position; moving a second moving body that is the same as or different from the first moving body; and performing control such that the subject to be imaged is imaged at the re-imaging position in accordance with the second imaging parameter using a camera provided to the second moving body.

Description

Information Processing Method, Computer Program, and Information Processing Apparatus 【0001】 The present disclosure relates to an information processing method, a computer program, and an information processing apparatus. 【0002】 In recent years, drones have been used in various applications. For example, there are applications for constructing a three-dimensional model of a shooting target (modeling application) and applications for inspecting structures. In shooting for constructing a three-dimensional model, it is necessary to shoot the entire shooting target with a certain quality while overlapping with the image data of the adjacent surrounding area. If there is a poor image quality in the captured image or if there is a shortage of image data required for constructing the three-dimensional model, re-shooting may be necessary. 【0003】 However, it is difficult to grasp the shooting position where re-shooting is required. Also, when re-shooting is performed immediately at the shooting site, it is difficult to create the re-shooting path at the site. Also, when re-shooting is performed at a later date, the environment changes over time compared to the time of the first shooting, and shooting under the same conditions may become impossible. Also, there may be an opportunity loss due to not obtaining re-shooting permission. Also, when the user goes to the site during shooting, a great deal of effort is required for the user to go to the site again. 【0004】 The following Patent Document 1 describes a method of performing re-shooting at the same position as the position where shooting failed. In this method, when the cause of failure is poor image quality due to blur or defocus, or occlusion or other external factors, re-shooting fails. 【0005】 Japanese Patent Application Laid-Open No. 2020-191523, Japanese Patent Application Laid-Open No. 2024-021143 【0006】 The present disclosure provides an information processing method, a computer program, and an information processing apparatus that enable efficient shooting by a moving body. 【0007】The information processing method of the present disclosure acquires image data of a target object at a shooting position according to first shooting parameters using a camera provided by a first mobile body, determines a reshoot position for reshooting the target object based on the image data, determines a second shooting parameter different from the first shooting parameter as the shooting parameter for shooting the target object at the reshoot position, moves a second mobile body which is the same as or different from the first mobile body, and controls the second mobile body to shoot the target object at the reshoot position according to the second shooting parameter using a camera provided by the second mobile body. 【0008】 A diagram showing an example of the overall configuration of the information processing system according to the first embodiment. A block diagram showing an example of an information processing system equipped with a mobile body and an operating device. A flowchart of the first operation example of the information processing system according to this embodiment. A diagram showing an example of a target to be photographed. A diagram showing an example of a three-dimensional spatial model in which three-dimensional point cloud data obtained from a group of image data captured from the target to be photographed in Figure 4 and each shooting position information are arranged in the same coordinate system. A diagram showing an example of a three-dimensional spatial model in which only shooting position information is arranged. A diagram showing an example of a three-dimensional spatial model in which only point cloud data is arranged. A diagram showing an example of a three-dimensional spatial model in which shooting position information and information indicating the area of ​​the target to be photographed are arranged. A diagram showing an example of generating a re-shooting path. A flowchart of the second operation example of the information processing system according to this embodiment. A flowchart of the third operation example of the information processing system according to this embodiment. A block diagram showing an example of the overall configuration of the information processing system according to the second embodiment. A diagram showing an example in which the user specifies a re-shooting location. A diagram showing an example in which a path is generated to fly to the re-shooting location in a short time or short distance. A diagram showing an example in which the user specifies an additional re-shooting location. 【0009】 The following describes embodiments of the information processing method, computer program, and information processing apparatus with reference to the drawings. While the following description focuses on the main components of the information processing method, computer program, and information processing apparatus, there may be components and functions not shown or described. The following description does not exclude any components or functions not shown or described. 【0010】(First Embodiment) Figure 1 is a diagram showing an example of the overall configuration of an information processing system according to the first embodiment of the present disclosure. The information processing system in Figure 1 comprises a mobile body 100 that can move in three-dimensional space, an information processing device 200 that can communicate wirelessly or via wired connection with the mobile body 100, and an operating device 300 that gives various instructions to the mobile body 100. In this embodiment, the mobile body 100 is, for example, a drone that can fly in any environment such as a forest, factory, or town. The mobile body 100 flies through space by driving a rotor 101 with a drive system such as a motor. The flight path is instructed in advance to the user 400. The mobile body according to this embodiment is not limited to a drone, but may be a manned aircraft such as a helicopter. Furthermore, the mobile body according to this embodiment is not limited to an aircraft, but may be a vehicle or robot that can move on the ground. 【0011】 The operating device 300 is operated by the user 400. The operating device 300 gives various instructions to the mobile body 100 or makes various settings of the mobile body 100. The operating device 300 is a transmitter or a mobile device, etc. The operating device 300 includes a display unit 320 for displaying images and an input unit (instruction unit) 301 for the user 400 to input various instructions. The display unit 320 may display interface images (for example, various menu screens) for the user 400 to give various instructions. The display unit 320 may also have a touch panel function. The display unit 320 may also display map data showing the real-time flight environment during the flight of the mobile body 100, location information showing the current position of the mobile body 100, video data (images) taken by the mobile body 100, etc. The operating device 300 may be able to communicate with the information processing device 200 to give various instructions. 【0012】The mobile device 100 autonomously flies through three-dimensional space according to a flight plan (flight path and camera attitude at each shooting position included in the flight path) instructed by the control device 300, and takes photographs with the camera 120. The flight path is the path from the departure point to the destination point, and is also called the shooting path. However, the flight of the mobile device 100 may be controlled in real time by manual operation by the user 400. The mobile device 100 is equipped with a camera 120. At least one of the position or orientation (attitude) of the camera 120 is controllable. The camera 120 may also be zoomable. At least one of the position or attitude of the camera 120 may remain constant during flight (during shooting). 【0013】 Communication between the mobile unit 100 and the operating device 300 may occur directly, or a base station may be interposed between the mobile unit 100 and the operating device 300. In this case, communication between the operating device 300 and the mobile unit 100 is conducted via the base station. Some functions of the operating device 300 may be provided on the base station or the information processing device 200. 【0014】 The information processing device 200 communicates with the mobile device 100 wirelessly or via a wired connection and performs information processing according to this embodiment based on image data captured by the mobile device 100. The information processing device 200 may communicate with the mobile device 100 via, for example, a mobile communication network such as 5G, a wireless LAN such as Wi-Fi, or Bluetooth. The information processing device 200 is a computer device equipped with a processor such as a CPU, and is composed of, for example, a personal computer (PC) or a server. The functions of the information processing device 200 may be included in the operating device 300. In this case, communication between the information processing device 200 and the operating device 300 can be omitted. In the following description, we will show the case where the functions of the information processing device 200 are included in the operating device 300. 【0015】Figure 2 is a block diagram showing an example of an information processing system equipped with a mobile unit 100 and an operating device 300. The mobile unit 100 includes a communication unit 110, a camera 120, a sensor unit 130, a position / attitude estimation unit 140, a storage unit 150, a payload control unit 160, an image processing unit 170, a route processing unit 180, a flight control unit 190, and a gimbal 195. In addition, the mobile unit 100 includes elements not shown, such as a rotor 101 (see Figure 1) and a drive system. 【0016】 The operating device 300 includes a communication unit 310, a display unit 320, a storage unit 330, a control unit 340, an image processing unit 350, a three-dimensional reconstruction unit 360, a shooting failure location identification unit 370, a parameter determination unit 380, and an input unit 390. 【0017】 The mobile unit 100 and the operating device 300 transmit and receive information wirelessly from each other via the communication units 110 and 310, respectively. 【0018】 [Mobile Unit 100] The memory unit 150 stores various information about the mobile unit 100, information acquired from the operating device 300, and various information generated by processing within the mobile unit 100. For example, it stores information such as various specifications of the mobile unit 100, the flight plan (also called a shooting plan) of the mobile unit 100 acquired from the operating device 300, and information related to the instructions for executing it. It may also store map data of the environment in which the mobile unit 100 moves, and information necessary for controlling the operation of each part (for example, an application or program to be executed by the CPU). The memory unit 150 is composed of, for example, non-volatile memory such as flash memory, or volatile memory such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). Other configurations besides memory may be used as the memory unit, for example, an SSD (Solid State Drive), a hard disk, or an optical disc. 【0019】 The sensor unit 130 includes a GPS (Global Positioning System) 131 and an inertial measurement unit (IMU) 132. 【0020】The GPS 131 detects position data indicating the location of the moving object 100. The detected position data indicates the location in the world coordinate system, specifically a three-dimensional location including longitude, latitude, and altitude, or a two-dimensional location including longitude and latitude. However, the position data is not limited to longitude, latitude, and altitude, and may also be information indicating the location in an arbitrarily defined coordinate system, as long as the location within the flight environment can be identified. The GPS 131 detects position data at regular time intervals and outputs the detected position data to the position / attitude estimation unit 140. The GPS 131 is an example of a position detection unit that detects the location of the moving object 100, and position detection may also be performed using sensors other than the GPS 131 (e.g., vision sensors). 【0021】 The IMU 132 detects IMU data indicating the acceleration and angular acceleration of the three axes of the moving body 100. The IMU 132 performs detection at regular time intervals and outputs the detected IMU data to the position / attitude estimation unit 140. A gyro sensor and an acceleration sensor may be used as the IMU 132. 【0022】 The sensor unit 130 may further include sensors other than the GPS 131 and IMU 132, such as an infrared sensor, a geomagnetic sensor, a barometric pressure sensor, and a temperature sensor. 【0023】 The position / attitude estimation unit 140 estimates the position and attitude of the mobile body 100 based on the position data and IMU data input from the sensor unit 130. The position / attitude estimation unit 140 stores the estimated position and attitude data in the storage unit 150. The position and attitude data may include the estimated time. The estimated time may be the time corresponding to the time when the position data and IMU data were acquired. The position and attitude data includes position information indicating the position of the mobile body 100 and attitude information indicating its attitude. 【0024】The route processing unit 180 reads the flight plan and execution instructions for the mobile body 100 from the storage unit 150 and interprets the flight plan. The flight plan includes information on the flight path (also called the shooting path) and shooting positions of the mobile body 100, as well as parameters (shooting parameters) related to at least one of the mobile body 100's camera and flight. Based on the interpretation result of the flight plan and the current position and attitude of the mobile body 100, the route processing unit 180 generates flight instruction data and sends it to the flight control unit 190. For example, the flight instruction data is at least one of acceleration data, velocity data, or position data at regular time intervals. Based on the flight instruction data, the flight control unit 190 controls the flight of the mobile body 100 by controlling a drive system (not shown). 【0025】 The payload control unit 160 controls the camera 120 and the gimbal 195. The payload control unit 160 controls the drive of the camera 120 based on the flight plan of the mobile body 100. For example, it controls the camera 120 to take pictures at a position specified at each time in the flight plan. The payload control unit 160 also adjusts at least one of the position and attitude of the camera 120 by controlling the gimbal 195. The camera 120's shake suppression mechanism suppresses shake. 【0026】 Camera 120, under the control of the payload control unit 160, captures images of the surrounding environment and generates image data while the mobile body 100 is in flight. Camera 120 has a field of view and captures the environment within that field of view. The image data may include the time of capture. Information on at least one of the position and attitude of the mobile body 100 at the time of capture may be added to the image data. Camera 120 can be any camera as long as it can capture images of the surrounding environment. For example, an RGB camera, a monochrome camera, an infrared camera, a stereo camera, a depth camera, etc. The image data captured by camera 120 is sent to the video processing unit 170. 【0027】 The video processing unit 170 performs general image processing on the image data (for example, noise reduction, image correction, image resolution conversion, image compression and conversion), and then transmits the processed image data to the operating device 300 via the communication unit 110. 【0028】Although only one movable body 100 is shown in Figure 1, two or more movable bodies 100 may be provided. 【0029】 [Operating device 300] The route processing unit 341 generates a flight plan (also called a shooting plan) for the mobile body 100 to photograph the target and construct a three-dimensional model, based on the information regarding the target to be photographed. The information regarding the target to be photographed may also be information that specifies the region of a solid (such as a rectangular prism or a sphere) that encloses the target to be photographed. In this case, the specified solid is used as the target to be photographed. The user may input the information regarding the target to be photographed from the input unit 301. The display unit 320 may display a map, and the object to be photographed may be specified on the map. In this case, the specified object itself may be used as the target to be photographed, or the route processing unit 341 may calculate a rectangular prism that encloses the specified object and use the region of the calculated rectangular prism as the target to be photographed. Alternatively, the user may directly specify the target to be photographed by inputting a planar region and height. 【0030】 The flight plan includes the flight path (photography path) of the mobile unit 100, the attitude of each photography position and camera 120, and parameters (photography parameters) relating to at least one of the camera 120 and the flight. In a broad sense, the photography position and the attitude of camera 120 are also parameters, but in this specification, unless otherwise specified, they are described as separate items from parameters. However, if the attitude of camera 120 is constant during flight, the attitude of camera 120 may be specified by parameters. 【0031】 In initial flights, default parameters may be used, or the user may specify them. Parameter candidates may be displayed on the display unit 320, and the user may select the parameters to use from the displayed candidates. The system may learn the user's past parameter selection trends to determine the parameters to use, or it may determine or estimate the parameters to use using information other than user selection. The system may also determine the parameters to use based on a rule-based system. For example, a database linking weather conditions and parameters may be prepared, and parameters corresponding to the weather conditions at the site may be selected. The route processing unit 341 stores the generated flight plan in the storage unit 330. 【0032】 Examples of parameters related to camera 120 (including parameters for gimbal 195) are shown below. If camera 120 is movable within the mobile body 100 (for example, it can slide along a rail), the position of camera 120 may be included as a parameter. As mentioned above, the orientation of camera 120 may also be included as a parameter. • Aperture • Shutter speed • Exposure • Exposure compensation • Metering mode • White balance • Focus mode • Color / tone • Image quality, image size setting • APS-C mode • Shutter method • Image stabilization 【0033】 Examples of parameters related to the flight of the mobile device 100 are shown below. Note that, as mentioned above, the shooting position may also be included in the parameters. • Flight speed • Acceleration • Geyser 【0034】 The route display unit 324 in the display unit 320 displays the flight path included in the flight plan generated by the route processing unit 341. At the same time, the shooting location, the environment surrounding the flight path, and the target to be photographed may also be displayed along with the flight path. In addition, the values ​​of the camera 120 and parameters related to the flight may also be displayed. If the user agrees to the displayed flight path, etc., the user inputs an instruction to start shooting (start flight). Upon receiving the user's instruction, the control unit 340 reads the flight plan from the storage unit 330 and performs control to transmit it to the mobile body 100 via the communication unit 310 along with the flight plan execution instruction. Alternatively, without user confirmation, the control unit 340 may perform control to transmit the flight plan and its execution instruction to the mobile body 100 via the communication unit 310 as soon as the flight plan is generated by the route processing unit 341. 【0035】The communication unit 310 acquires sequential data (video data or image data) from the mobile body 100, which has started flying and taking photographs in response to the flight plan execution instruction, and stores it in the storage unit 330. The data may include information such as the time of shooting and the shooting location and attitude. When the control unit 340 receives notification that the mobile body 100 has finished flying and taking photographs, it causes the video processing unit 350 to sequentially read the captured data from the storage unit 330. After performing general image processing, the video processing unit 350 uses the image quality determination unit 351 to determine whether the data meets the image quality conditions. If the data is video data, it may be converted to image data before the determination. However, the control unit 340 may cause the video processing unit 350 to start processing without waiting for notification that the mobile body 100 has finished taking photographs. In other words, the video processing unit 350 may start processing in parallel with the flight and photography of the mobile body 100. 【0036】 As an example of image quality conditions, there may be no image degradation of any kind, such as blur, out of focus, overexposure, or underexposure. In this case, if there is at least one type of image degradation such as blur, out of focus, overexposure, or underexposure, it is determined that the image quality conditions are not met. If none of these are present, it is determined that the image quality conditions are met. For example, in the case of overexposure, a histogram of the brightness of each pixel of the image data may be generated and the brightness distribution analyzed, and if there is a peak at the highest brightness or a brightness above a threshold, or if there is a certain number of such peaks, it may be determined that there is overexposure. In the case of blur, the presence or absence of blur may be determined by edge detection. Image quality conditions are not limited to blur, out of focus, overexposure, and underexposure, but may also include other types such as noise, dynamic range, and sharpness. The determination of whether or not the image quality conditions are met is performed by the video processing unit 350, or it may be done by the user after the data captured by the mobile device 100 is presented to the user. 【0037】The image quality determination unit 351 generates information (shooting failure information) regarding image data that it has determined does not meet the image quality conditions and sends it to the shooting failure location identification unit 370. An example of shooting failure information is that it includes the location where the failed image data was taken, and may also include at least one of the camera 120's orientation and the shooting time. The shooting failure information may also include the reason why the image quality conditions were not met (such as blur, out of focus, overexposure, or underexposure). 【0038】 The image quality determination unit 351 sends the image data that it has determined to meet the image quality conditions to the three-dimensional reconstruction unit 360. 【0039】 The 3D reconstruction unit 360 generates a 3D spatial model that includes at least one of the following: a 3D reconstruction of the subject being photographed, and information indicating the shooting position and camera orientation at the time each image data was taken (also called shooting position information), based on the image data received from the image quality determination unit 351. The shooting position information may include both the shooting position and orientation, or it may include only the shooting position. The 3D reconstruction is, for example, point cloud data or a 3D model of the subject being photographed. More details are as follows. 【0040】 A 3D model can be generated by creating point cloud data from each image data of the captured object using techniques such as feature point detection, arranging the point cloud data in a 3D coordinate system, meshing the arranged point cloud data, and applying texture processing to the mesh. The arrangement of each shooting position information in the 3D spatial model may also be done by arranging the camera image in the 3D coordinate system at a position and orientation corresponding to each shooting position / orientation (see Figures 5 and 6 described later). Simple processing may be used when generating point cloud data or 3D models. For example, the number of pixels in the image data may be reduced or the image data may be compressed (the compression ratio may be increased). Also, not all of the image data may be used, and some may be omitted. Furthermore, an algorithm with low computational complexity may be used as the point cloud processing algorithm. If the image data does not include the shooting position, the shooting position may be estimated by matching the feature points between image data from different viewpoints used during model generation. In this case, an algorithm with low computational complexity may be used as the estimation algorithm. 【0041】 The display unit 320 and the 3D configuration display unit 321 display the generated 3D spatial model on the screen. The 3D spatial model includes at least one of the 3D configuration of the object to be photographed (point cloud data or 3D model) and the photographic location information. This allows the user to see the shooting status by the mobile device 100. 【0042】 The display of the 3D spatial model on the screen may be done in real time while the mobile object 100 is flying (taking pictures), or after the flight (taking pictures) is completed. The 3D spatial model including the shooting position information and the 3D spatial model including the 3D configuration may be displayed separately. Furthermore, the user may be able to switch between these displayed 3D spatial models. The AI ​​may learn from the user's past operation history and select and display the 3D spatial model that is predicted to be selected by the user. When placing the shooting position information in the 3D spatial model, the shooting position information may be represented by shapes such as circles and squares, or by a schematic drawing of the camera's appearance. When using a drawing of a camera, the orientation of the displayed camera may be adjusted so that the camera lens is pointed towards the subject being photographed. This allows the user to more intuitively understand the position and orientation of the camera when the subject was photographed at each shooting position. 【0043】 The shooting position and 3D configuration display unit 321 may, when arranging shooting position information without arranging a 3D configuration, also place information indicating the area of ​​the object being photographed in the same 3D spatial model. In other words, the area occupied by the object being photographed may be determined from the position where the object exists in real space and the shape of the object being photographed, and information indicating that area may be placed in the 3D spatial model. This makes it easier for the user to visualize the relative positional relationship between the camera's shooting position and orientation and the object being photographed within the 3D spatial model. This can, for example, support the user in deciding which positions require reshooting. 【0044】The user may input from the input unit 390 by specifying information regarding the position where shooting failed or the position where reshooting is necessary based on the displayed three-dimensional space model (for example, the shooting position information, the three-dimensional configuration, or both are arranged). The input unit 390 may be the same as the operation unit 301 in FIG. 1 or may be a unit different from the operation unit 301. The input unit 390 may be a touch panel. For example, the user may touch and specify a defective portion (for example, a missing portion) in the displayed three-dimensional configuration on the screen. Alternatively, the user may touch and specify a portion where the density of the shooting position information is low from the distribution of the shooting position information arranged in the three-dimensional space model on the screen. The information to be specified corresponds to information related to the position of reshooting or information related to the position where shooting failed. The input unit 390 sends the information indicating the portion specified by the user to the shooting failure position specifying unit 370. 【0045】 Based on the information received from the input unit 390 and the video processing unit 350, the shooting failure position specifying unit 370 specifies the position where shooting failed (shooting failure position). For example, among the shooting positions included in the initial flight path, the shooting position that matches or overlaps the portion specified by the user is set as the shooting failure position. Also, the position indicated by the shooting failure information from the video processing unit 350 is set as the shooting failure position. Further, the video processing unit 350 may detect that shooting was not executed at the shooting planned position and set that position as the shooting failure position. Also, the shooting failure position specifying unit 370 may specify the reason why shooting failed based on the shooting failure information. 【0046】Furthermore, the shooting failure location identification unit 370 may perform a process to identify the location where shooting failed (shooting failure location) from at least one of the three-dimensional configuration and shooting location information. In this case, the shooting failure location may include not only the shooting location of image data that was not adopted due to image quality degradation, but also the shooting location that was not included in the initial flight path and therefore was not photographed, resulting in an inability to obtain a proper three-dimensional configuration. As a specific example of processing, the three-dimensional configuration may be analyzed to identify locations where the point cloud or three-dimensional model is missing, and the shooting location where the identified location can be photographed may be designated as the shooting failure location. Alternatively, the distribution of shooting location information may be analyzed, and locations where the density is below a threshold may be identified as the shooting failure location. Alternatively, if the difference (overlap rate) between the image or video of the target frame and the previous frame falls below a certain level, the shooting location of the target frame may be designated as the shooting failure location. 【0047】Parameter determination unit 380 uses parameter candidate generation unit 381 to determine parameter candidates related to the camera or flight for re - shooting based on the information of the shooting failure position specified by shooting failure position specification unit 370. The parameter candidates determined here target parameters whose values are changed from the initial flight, and for parameters whose values are not changed, the parameter values at the time of the first flight are used as they are. Note that the parameters at the time of the initial flight may be parameters statically determined before the start of the flight, or if parameter changes are allowed during flight, they may also be parameters changed during flight. Depending on the user's selection, a mode in which parameters can be changed during flight and a mode in which parameters cannot be changed during flight may be set. For example, after the start of the initial flight, if the wind is blowing strongly and the assumed speed is not achieved, the shutter speed may be changed. Here, examples of parameter candidates include shutter speed, flight speed, ISO sensitivity, etc. One or more parameter candidates combining one or more of these values are determined. In addition, when the camera attitude is constant during flight (for example, when the entire flight path is fixed, or when each section of the flight path is fixed), the camera attitude may be included in the parameter candidates. When the camera attitude is determined individually for each shooting position, since the camera attitude cannot be determined until the shooting position (re - shooting position) is determined, the camera attitude may not be determined as a parameter candidate at this point. 【0048】 When generating parameter candidates, the reasons for shooting failure may be used. For example, if the reason for failure is image blur, a plurality of parameter candidates combining various values such as flight speed and shutter speed may be generated. For example, as parameter candidate 1, a flight speed of 2 m / s, a shutter speed of 1 / 60 s, etc. are determined, and as parameter candidate 2, a flight speed of 1 m / s, a shutter speed of 1 / 40 s, etc. are determined. As another example, if the reason for failure is overexposure, a plurality of parameter candidates combining various values such as shutter speed and ISO sensitivity may be generated. Note that the generation of parameter candidates may be based on rules, or may be generated by learning the user's past parameter selection tendencies. 【0049】The parameter determination unit 380 determines the parameters to be used for reshooting from the parameter candidates generated by the parameter candidate generation unit 381. The parameter determination unit 380 may display the generated parameter candidates on the display unit 320 and allow the user to select the desired parameters from the parameter candidates. In this case, the user may be allowed to select multiple parameters. In this case, multiple flights (reshoots) will be performed for each parameter. Alternatively, all parameter candidates generated by the parameter candidate generation unit 381 may be selected without allowing the user to make a selection, or some parameter candidates may be selected randomly. Furthermore, parameters previously selected by the user may be recorded and AI learning may be performed to predict the parameters the user will select this time and then select them. 【0050】 The parameter determination unit 380 stores the parameters determined from the parameter candidates (hereinafter referred to as re-imaging parameters) in the storage unit 330. The re-imaging parameters may also be called second imaging parameters, and the initial imaging parameters may be called first imaging parameters. 【0051】 The path processing unit 341 in the control unit 340 determines the re-shooting location based on the shooting failure location and generates a flight plan (shooting plan) for re-shooting based on the re-shooting parameters. If there are multiple re-shooting parameters, a flight plan is generated for each re-shooting parameter. 【0052】 As an example, among the multiple shooting locations included in the initial flight path (shooting path), the shooting failure location is designated as the reshoot location (reshoot position). 【0053】Furthermore, the route processing unit 341 determines an additional shooting position (additional shooting position) that is different from the shooting failure position. In this case, the additional shooting position may be a position close to the shooting failure position in the initial flight path. For example, the distance between the shooting failure position (re-shooting position) and the additional shooting position is shorter than the distance between the shooting failure position and the adjacent shooting position (shooting position that did not fail) in the initial flight plan (see Figure 9 described later). This allows for shooting from a position slightly away from the initial shooting failure position, increasing the possibility of successful re-shooting. Also, determining the additional shooting position in the initial flight path makes it easy to determine the additional shooting position. 【0054】 The path processing unit 341 may also determine the orientation of the camera 120 at the determined re-shooting position (including the additional shooting position). 【0055】 The route processing unit 341 uses the same route as the initial flight path as the flight path for re-shooting, sets the shooting position to the re-shooting position (including the additional shooting position) determined above, and generates a flight plan (shooting plan) according to the re-shooting parameters for camera and flight parameters. 【0056】 The route processing unit 341 stores the generated flight plan for reshoots in the storage unit 330. The control unit 340 controls the transmission of the flight plan for reshoots and its execution instructions to the mobile body 100 via the communication unit 310. The mobile body 100 flies according to the flight plan for reshoots, takes photographs with the camera 120 at the reshoot location, and transmits the captured image data to the operating device 300. The mobile body to be reshooted may be the same as the mobile body that executed the initial flight plan, or it may be a different mobile body. If the mobile body that executed the initial flight plan is the first mobile body, and the mobile body that executes the reshoot flight plan is the second mobile body, then the second mobile body may be the same as or different from the first mobile body. Furthermore, the first mobile body may be controlled not by an operating device or information processing device relating to the user of the first mobile body, but by a business operator that provides image data captured by the mobile body or an operating device or information processing device relating to the user of the second mobile body, and the image data may be obtained from such a business operator or user of the second mobile body and the information processing according to this embodiment may be executed. 【0057】 If, as a result of the reshoot, the image quality determination unit 351 determines that the image quality conditions are met for all image data or a predetermined number or more of image data, and the shooting failure location identification unit 370 does not identify any shooting failure locations (or the number of identified locations is below a threshold), the operating device 300 determines that the reshoot was successful and terminates the process. If the reshoot is not determined to be successful, the same process as described above (identification of shooting failure locations, determination of parameters, etc.) may be repeated for a third shoot. 【0058】 The operation of the information processing system shown in Figure 1 will be explained below using specific examples. Figure 3 is a flowchart of the first example of operation of the information processing system according to this embodiment. 【0059】 The mobile unit 100 receives a flight plan and execution instructions from the control device 300 and begins flight and photography (S101). The mobile unit 100 flies according to the flight plan and takes photographs of the target at multiple photography locations indicated in the flight plan. The mobile unit 100 transmits the captured image data to the control device 300. The control device 300 stores the image data received from the mobile unit 100 in the storage unit 330. 【0060】 Figure 4 shows an example of the object to be photographed 410. The object to be photographed 410 in the figure is a tree stump on the ground viewed from diagonally above. The mobile unit 100 flies around the object to be photographed, for example, and takes pictures. 【0061】 Once the flight and shooting of the mobile body 100 are completed, or in parallel with the flight and shooting of the mobile body 100, the video processing unit 350 of the operating device 300 reads the image data from the storage unit 330 and performs general image processing, and the image quality determination unit 351 determines the image quality of the image data based on image quality conditions (S102). Based on the image data that does not meet the image quality conditions (image data that failed to be shot), the image quality determination unit 351 generates information about the location where the shooting failed (shooting failure information) and sends it to the shooting failure location identification unit 370 (S103). The shooting failure information may also include the reason for the shooting failure (blur, out of focus, overexposure, underexposure, etc.). 【0062】Furthermore, the 3D reconstruction unit 360 detects feature points from each image data determined to satisfy the image quality conditions, associates corresponding points with each other to generate 3D point cloud data of the target being photographed, and generates a 3D spatial model in which the generated point cloud data and information indicating each shooting position and camera orientation (shooting position information) are arranged (S104). Instead of point cloud data, a 3D model of the target being photographed, obtained by meshing and texture processing from the point cloud data, may be placed in the 3D spatial model. 【0063】 The operating device 300 displays a three-dimensional spatial model on the display unit 320 (S105). This allows the user to understand the shooting status at the site, that is, what shooting position and camera orientation the mobile device 100 used to shoot the target. 【0064】 Figure 5 shows an example of a three-dimensional spatial model in which three-dimensional point cloud data 430 obtained from a group of image data captured from the tree stump (target of photography) in Figure 4 and each shooting position information 420 are arranged. The point cloud data 430 obtained from the group of image data of the tree stump is shown. Each triangular pyramid surrounding the point cloud data 430 represents each shooting position information 420. The orientation of the triangular pyramid corresponds to the orientation of the camera 120. Within the point cloud data, there are regions 430A and 430B from which point cloud data could not be obtained due to insufficient image data or shooting failure. 【0065】 The examples of three-dimensional spatial models are not limited to Figure 5. Figure 6 shows an example of a three-dimensional spatial model in which only the shooting location information 420 is placed, without the placement of point cloud data. Figure 7 also shows an example of a three-dimensional spatial model in which only the point cloud data 430 is placed, without the placement of shooting location information. Furthermore, it is also possible to configure the three-dimensional spatial model to include both the shooting location information 420 and information indicating the area of ​​the target being photographed. Figure 8 shows an example of a three-dimensional spatial model in which both the shooting location information 420 and information indicating the area of ​​the target being photographed 440 are placed. 【0066】The user may be allowed to switch between displaying at least two of the following: a 3D spatial model containing the point cloud data (or 3D model) of the target object and information on each shooting location; a 3D spatial model containing only the point cloud data of the target object; a 3D spatial model containing only the information on each shooting location; and a 3D spatial model containing the information on each shooting location and information indicating the area of ​​the target object. The user may select the one that is easiest for them to check and verify whether there are any failed shooting locations. 【0067】 The user looks at the displayed 3D spatial model, identifies areas where the image capture failed, and inputs information about the areas where the image capture failed (image capture failure information) from the input unit 390 (S106). For example, the user may input information indicating an incomplete area (an area where the point cloud is missing or the density of the point cloud is low) in the point cloud data (or 3D model) of the target to be captured, or information indicating an area with low density at the shooting location. 【0068】 The operating device 300 acquires the shooting failure information input by the user in the shooting failure location identification unit 370 (S107). 【0069】 Based on the shooting failure information acquired in at least one of steps S103 and S107, the operating device 300 identifies the shooting failure location and generates one or more parameter candidates related to the camera or flight in the parameter candidate generation unit 381 (S108). The operating device 300 may display the parameter candidates in the display unit 320 and allow the user to select a parameter candidate. The operating device 300 determines the selected parameter candidate as the parameter for reshooting in the parameter determination unit 380 (S109). 【0070】 The operating device 300 determines the reshoot location based on the failed shooting information in the route processing unit 341 (S110). As an example, it determines the reshoot location to be one of the shooting locations included in the initial flight path (shooting path) where shooting failed (failed shooting location). Furthermore, the route processing unit 341 also determines additional shooting locations (additional shooting locations) that are located a short distance from the failed shooting location and are different from any of the shooting locations included in the initial flight path as reshoot locations (same as S110). 【0071】 The operating device 300, in the route processing unit 341, generates a flight path (re-shooting path) including re-shooting locations based on the re-shooting parameters and re-shooting locations (including additional shooting locations), and generates a flight plan for re-shooting (re-shooting plan) (S111). If there are multiple re-shooting parameters, a flight plan is generated for each re-shooting parameter. In this example, the re-shooting path is the same as the initial shooting path. 【0072】 Figure 9 shows an example of generating a reshooting path. Figure 9(A) shows an example of the flight path (initial shooting path) of the mobile body 100 flying in step S101. Figure 9(B) shows an example of generating a reshooting path. As shown in Figure 9(A), the path 510 from the departure point to the destination point includes multiple shooting positions 521. Among the shooting positions 521, positions where shooting failed (shooting failure positions) 522 are filled in. When the path processing unit 341 determines the reshooting positions, it sets the same positions as these shooting failure positions 522 as reshooting positions 531, as shown in Figure 9(B). Furthermore, the path processing unit 341 sets additional shooting positions 532 located at a close distance from the reshooting positions 531 within the flight path 510. In the example shown, one additional shooting position 532 is set at a close distance on both sides of the reshooting position 531. The distance D2 between the additional shooting position 532 and the re-shooting position 531 (shooting failure position) is shorter than the distance D1 between the shooting failure position 522 and the adjacent shooting position 521 where shooting was successful in the initial shooting path. In other words, the additional shooting position 532 is located between the shooting failure position 522 and the adjacent shooting position 521. This increases the likelihood of successfully re-shooting a shot that failed in the initial flight. 【0073】 The control unit 340 of the operating device 300 transmits the generated re-shooting flight plan and execution instructions to the mobile unit 100 via the communication unit 310. The mobile unit 100 executes the re-shooting flight plan. That is, the mobile unit 100 flies according to the re-shooting flight plan, takes pictures with the camera 120 at re-shooting locations included in the flight path, and transmits the captured image data to the operating device 300. 【0074】Figure 10 is a flowchart of a second operational example of the information processing system according to this embodiment. The difference from the flowchart in Figure 3 is that step S106 has been changed to step S116. Other points are the same as in the flowchart in Figure 3, so their explanation is omitted. 【0075】 The operating device 300, in the shooting failure location identification unit 370, identifies the location where shooting failed from the point cloud data of the target and each shooting location information, and acquires shooting failure information (S116). In other words, in step S106 of Figure 3, the location where shooting failed was identified based on user input, but in step S116 of Figure 10, the shooting failure location identification unit 370 analyzes the point cloud data (or 3D model) of the target and each shooting location information to identify the location where shooting failed. The subsequent processing is the same as the flowchart in Figure 3. 【0076】 The first and second operation examples shown in Figures 3 and 10 are just examples and can be modified or extended in various ways. For example, it is possible to perform a process that includes both step S116 in Figure 10 and step S106 in Figure 3. In this case, either step S106 or S116 may be executed first, or they may be executed simultaneously. Also, in Figure 3, steps S102 and S103 may be omitted, or steps S106 and S107 may be omitted. Similarly, in Figure 10, steps S102 and S103 may be omitted, or steps S116 and S107 may be omitted. 【0077】 Figure 11 is a flowchart of a third operational example of the information processing system according to this embodiment. In Figure 3 described above, the re-shooting location was determined (S110), followed by the generation of the re-shooting path (S111). However, in the flowchart of Figure 11, the re-shooting location is determined (S121) after the generation of the re-shooting path (S120). 【0078】More specifically, in step S120, the operating device 300 determines the same flight path (photography path) as in step S101 in the path processing unit 341. In the subsequent step S121, the re-photography position is determined in the same manner as in step S110 in Figure 3. By making the re-photography path the same as the initial flight path in this way, it is possible to determine the flight path for re-photography before determining the re-photography position. 【0079】 Similarly, the order of the re-imaging position determination step and the re-imaging path generation step may be reversed in the flowchart of Figure 10. 【0080】 As described above, according to this embodiment, by displaying a three-dimensional spatial model with shooting position information to the user at the shooting site, the shooting status of the target (at what position and orientation the shooting was performed) can be shown to the user in real time. This provides the user with information to judge whether there are any omissions or uniformity in the shooting. Furthermore, by also displaying the area in which the target is located (see Figure 8) within the three-dimensional spatial model, it is possible to help detect omissions or occlusions in the shooting. 【0081】 Furthermore, according to this embodiment, point cloud data or a 3D model of the subject being photographed can be generated and displayed based on the captured image data, thereby more accurately supporting the user's judgment. 【0082】 Furthermore, according to this embodiment, by generating parameters with different values ​​for the camera and flight based on the shooting failure information, the success rate of reshoots can be increased. 【0083】 Furthermore, according to this embodiment, by determining the re-shooting position on the initial flight path (the path already flown), flight risks can be reduced (flight safety can be improved), the reusability of the flight path can be increased, and the amount of processing required to calculate the flight path can be reduced. 【0084】 (Second Embodiment) In the first embodiment, the route processing unit 341 determined the reshoot position based on shooting failure information, etc., but in the second embodiment, the user determines the reshoot position. 【0085】 Figure 12 is a block diagram of the information processing system according to the second embodiment. An input unit 610 has been added to the information processing system according to the first embodiment. 【0086】 After the parameter determination unit 380 determines the re-shooting parameters, the operating device 300 displays the initial flight path on the path display unit 324. The user uses the input unit 610 to specify the re-shooting location on the flight path. When specifying the re-shooting location, the user may determine the location by looking at the shooting location and the three-dimensional spatial model displayed by the three-dimensional configuration display unit 321. For example, the user may specify a location suitable for shooting areas where point cloud data is missing as the re-shooting location, or a location with a low density of distribution of shooting location information as the re-shooting location. 【0087】 Figure 13 shows an example where the user specifies a re-shooting location 541. In this example, three re-shooting locations 541 are densely arranged in each of the six regions. This dense arrangement increases the success rate of re-shooting areas where the initial image failed. 【0088】 The route processing unit 341 generates a flight path (re-shooting path) that includes the re-shooting location 541 specified by the user, and generates a flight plan that flies and takes photographs along the re-shooting path according to the determined parameters. The route processing unit 341 transmits the generated flight plan and its execution instructions to the mobile body 100. Similar to the first embodiment, it is also possible for the user to specify the re-shooting location 541 after the re-shooting path has been generated. 【0089】 As described above, according to this embodiment, by allowing the user to specify the re-shooting location, the re-shooting location can be determined flexibly. Furthermore, specifying the re-shooting location in the initial flight path eliminates the need to calculate a new flight path, enabling efficient processing. 【0090】(Third Embodiment) In the first and second embodiments, the same initial shooting path was used as the reshoot path. However, in the third embodiment, a new reshoot path (reshoot path) different from the initial shooting path is generated. Although this increases the computational load for path generation, it reduces unnecessary flights, allowing for efficient flight and shooting of the mobile body 100. 【0091】 The block diagram of the third embodiment is the same as that of the second embodiment, Figure 12. However, the operation of some blocks has been extended or modified. The following will focus on explaining the differences from the first or second embodiment. 【0092】 The route processing unit 341 determines the re-shooting location and then calculates a route that includes the re-shooting location. For example, it calculates a route that travels from the starting position, through the re-shooting location, to the destination position in the shortest time (e.g., shortest time) or shortest distance (e.g., shortest distance). The calculated route is designated as the re-shooting route. 【0093】 Figure 14 shows an example in which the route processing unit 341 generates a route 551 that flies to the determined re-shooting position 531 in a short time or over a short distance. 【0094】 The user may add additional reshooting locations to the reshooting locations determined by the route processing unit 341. More specifically, the route calculated by the route processing unit 341 is first displayed on the route display unit 324 of the display unit 320. This displays, for example, the route 551 (including the reshooting location 531) shown in Figure 14 above. If the user wishes to add a reshooting location, they specify the reshooting location using the input unit 610. In this case, the shooting location and the 3D configuration display unit 321 may display a 3D spatial model in which the point cloud data (or 3D model) acquired during the initial shooting and the shooting location information are placed. The route processing unit 341 generates a route that includes the determined reshooting locations and the additional reshooting locations specified by the user. 【0095】 Figure 15 shows an example in which the user specifies an additional re-shooting position 571 in addition to the re-shooting position 531 shown in Figure 14. The route processing unit 341 generates a route (re-shooting route) 561 that includes both the re-shooting position 531 and the re-shooting position 571. 【0096】As described above, according to this embodiment, by generating a re-shooting path that allows for movement to the re-shooting location in a short time or over a short distance, the flight and shooting of the mobile body 100 can be performed efficiently. 【0097】 The aspects of this disclosure are not limited to the individual embodiments described above, but include various modifications that a person skilled in the art could conceive, and the effects of this disclosure are not limited to those described above. In other words, various additions, modifications, and partial deletions are possible, as long as they do not depart from the conceptual idea and spirit of this disclosure derived from the claims and their equivalents. 【0098】Furthermore, this technology can take the following configurations: [Item 1] An information processing method comprising: acquiring image data by photographing a target at a shooting position according to first shooting parameters using a camera provided by a first mobile body; determining a reshooting position to reshoot the target based on the image data; determining a second shooting parameter different from the first shooting parameter as the shooting parameter for photographing the target at the reshooting position; moving a second mobile body that is the same as or different from the first mobile body; and controlling the second mobile body to photograph the target at the reshooting position according to the second shooting parameter using a camera provided by the second mobile body. [Item 2] The information processing method according to Item 1, further comprising: identifying a shooting failure position, which is the shooting position where the target was not photographed, based on the image data; and determining the reshooting position based on the shooting failure position. [Item 3] The information processing method according to Item 1 or 2, wherein the image data is captured by the first moving body as it moves along a shooting path including the shooting position, a reshooting path is generated which is the same as all or part of the shooting path, the reshooting path includes the reshooting position, and the second moving body is moved along the reshooting path. [Item 4] The information processing method according to Item 3, wherein the reshooting position is determined to be at least a position different from the shooting position. [Item 5] The information processing method according to Item 4, wherein, based on the image data, a shooting failure position is identified which is the shooting position where the target to be photographed failed, and the reshooting path further includes the shooting failure position. [Item 6] The information processing method according to Item 3 or 4, wherein, based on the image data, a shooting failure position is identified which is the shooting position where the target to be photographed failed, and the different reshooting position in the reshooting path corresponds to a position between the shooting failure position in the shooting path and the shooting position closest to the shooting failure position that did not fail to photograph. [Item 7] An information processing method according to any one of Items 1 to 6, which involves determining whether the image data satisfies the image quality conditions, and determining the re-shooting position based on the image data that is determined not to satisfy the image quality conditions.[Item 8] An information processing method according to any one of Items 1 to 7, wherein the image data is determined to satisfy the image quality conditions, and the shooting position information, which is at least one of the shooting position information, which is at least one of the shooting position information, which is at the shooting position where the image data was taken and the orientation of the camera on the first moving body when it was taken at the shooting position, and the three-dimensional configuration of the object to be photographed based on the image data, is arranged, the user inputs information regarding the reshoot position, and the reshoot position is determined based on the input information. [Item 9] An information processing method according to Item 2, wherein the image data is determined to satisfy the image quality conditions, and the shooting position, which is at least one of the shooting position information [Item 12] An information processing method according to any one of Items 1 to 11, wherein the image data is determined to satisfy the image quality conditions, and the reshooting position is determined based on the distribution of the shooting positions where the image data determined to satisfy the image quality conditions was taken. [Item 13] An information processing method according to Item 7, wherein the second shooting parameter is determined according to the type of image quality degradation of the image data determined not to satisfy the image quality conditions. [Item 14] An information processing method according to Item 13, wherein a plurality of candidates for the second shooting parameter are generated, the plurality of candidates are presented to the user, and the user is allowed to select the second shooting parameter to be used from the plurality of candidates. [Item 15] An information processing method according to any one of Items 1 to 14, wherein the image data is taken by the first moving body moving along a shooting path including the shooting position, a path different from the shooting path is generated as a reshooting path which includes the reshooting position, and the second moving body is moved along the reshooting path.[Item 16] The information processing method according to any one of Items 1 to 15, wherein the first shooting parameter includes at least one of parameters relating to a camera provided by the first mobile body or parameters relating to the movement of the first mobile body, and the second shooting parameter includes at least one of parameters relating to a camera provided by the second mobile body or parameters relating to the movement of the second mobile body. [Item 17] The information processing method according to any one of Items 1 to 16, wherein the first mobile body and the second mobile body are drones. [Item 18] A computer program to be executed by a computer, which acquires image data of a target being photographed at a shooting position according to the first shooting parameter using a camera provided by the first mobile body, determines a reshooting position for reshooting the target being photographed based on the image data, determines a second shooting parameter different from the first shooting parameter as a shooting parameter for photographing the target being photographed at the reshooting position, moves a second mobile body which is the same as or different from the first mobile body, and controls the second mobile body to photograph the target being photographed at the reshooting position according to the second shooting parameter using a camera provided by the second mobile body. [Item 19] An information processing device comprising: a control unit that performs control to acquire image data obtained by capturing a target at a shooting position according to first shooting parameters using a camera provided on a first mobile body; a path processing unit that determines a reshooting position for reshooting the target based on the image data; and a parameter determination unit that determines a second shooting parameter different from the first shooting parameter as the shooting parameter for capturing the target at the reshooting position based on the image data, wherein the control unit moves a second mobile body which is the same as or different from the first mobile body, and performs control to capture the target at the reshooting position according to the second shooting parameter using a camera provided on the second mobile body. 【0099】100 Mobile unit 101 Rotor 110 Communication unit 120 Camera 130 Sensor unit 132 Inertial measurement device 140 Attitude estimation unit 150 Memory unit 160 Payload control unit 170 Video processing unit 180 Path processing unit 190 Flight control unit 195 Gimbal 200 Information processing device 300 Operation device 301 Operation unit 301 Input unit (instruction unit) 310 Communication unit 320 Display unit 321 3D configuration display unit 324 Path display unit 330 Memory unit 340 Control unit 341 Path processing unit 350 Video processing unit 351 Image quality determination unit 360 3D reconstruction unit 370 Shooting failure location identification unit 380 Parameter determination unit 381 Parameter candidate generation unit 390 Input unit 400 User 410 Target to be photographed 420 Shooting location information 430 Point cloud data 430A, 430B Area 440 Information 510 Flight path 521 Shooting location 522 Shooting failure location 531 Reshoot location 532 Additional shooting location 541 Reshoot location 551 Path 561 Path (reshoot path) 571 Reshoot location 610 Input section D1 Interval D2 Interval

Claims

1. An information processing method comprising: acquiring image data of a target object at a shooting position according to first shooting parameters using a camera provided by a first mobile body; determining a reshooting position for reshooting the target object based on the image data; determining second shooting parameters different from the first shooting parameters as shooting parameters for shooting the target object at the reshooting position; moving a second mobile body that is the same as or different from the first mobile body; and controlling the second mobile body to shoot the target object at the reshooting position according to the second shooting parameters using a camera provided by the second mobile body.

2. The information processing method according to claim 1, which involves identifying a shooting failure position, which is the shooting position where the target to be photographed failed, based on the image data, and determining the re-shooting position based on the shooting failure position.

3. The information processing method according to claim 1, wherein the image data is captured by the first moving body as it moves along a shooting path including the shooting position, a reshooting path is generated which is the same as all or part of the shooting path, the reshooting path includes the reshooting position, and the second moving body is moved along the reshooting path.

4. The information processing method according to claim 3, wherein the re-shooting position is determined to be at least a position different from the shooting position.

5. Based on the image data, the information processing method according to claim 4, wherein the shooting failure location is identified as the shooting location where the shooting of the target failed, and the reshooting path further includes the shooting failure location.

6. Based on the image data, the information processing method according to claim 3, wherein the shooting failure position is identified as the shooting position where the shooting of the target failed, and the different reshooting position in the reshooting path corresponds to a position between the shooting failure position in the shooting path and the shooting position that is closest to the shooting failure position and where the shooting did not fail.

7. The information processing method according to claim 1, comprising determining whether the image data satisfies the image quality conditions, and determining the re-shooting position based on the image data that is determined not to satisfy the image quality conditions.

8. The information processing method according to claim 1, comprising: determining whether the image data satisfies image quality conditions; displaying a three-dimensional spatial model in which at least one of the following is arranged: shooting position information indicating the shooting position, which is the shooting position where the image data was taken if it is determined that the image data satisfies the image quality conditions, and the orientation of the camera on the first moving body when it was taken at the shooting position; and the three-dimensional configuration of the object to be photographed based on the image data; receiving input from the user regarding the reshoot position; and determining the reshoot position based on the input information.

9. The information processing method according to claim 2, comprising determining whether the image data satisfies the image quality conditions, and defining the shooting position where the image data that is determined not to satisfy the image quality conditions was taken as the shooting failure position.

10. The information processing method according to claim 1, comprising generating a three-dimensional structure of the object to be photographed based on the image data, and determining the re-photography position based on the three-dimensional structure.

11. The information processing method according to claim 10, wherein the three-dimensional configuration is three-dimensional point cloud data or a three-dimensional model of the object to be photographed.

12. The information processing method according to claim 1, comprising determining whether the image data satisfies the image quality conditions, and determining the re-shooting position based on the distribution of the shooting positions where the image data determined to satisfy the image quality conditions was taken.

13. The information processing method according to claim 7, wherein the second shooting parameter is determined according to the type of image quality degradation of the image data that is determined not to satisfy the image quality conditions.

14. The information processing method according to claim 13, comprising generating a plurality of candidates for the second shooting parameter, presenting the plurality of candidates to the user, and having the user select the second shooting parameter to be used from among the plurality of candidates.

15. The information processing method according to claim 1, wherein the image data is captured by the first moving body as it moves along a shooting path including the shooting position, a reshooting path is generated which is different from the shooting path and includes the reshooting position, and the second moving body is moved along the reshooting path.

16. The information processing method according to claim 1, wherein the first shooting parameter includes at least one of parameters relating to a camera provided by the first mobile body or parameters relating to the movement of the first mobile body, and the second shooting parameter includes at least one of parameters relating to a camera provided by the second mobile body or parameters relating to the movement of the second mobile body.

17. The information processing method according to claim 1, wherein the first mobile body and the second mobile body are drones.

18. A computer program to be executed by a computer, which acquires image data of a target object at a shooting position according to first shooting parameters using a camera equipped on a first mobile body, determines a reshooting position to reshoot the target object based on the image data, determines a second shooting parameter different from the first shooting parameter as the shooting parameter for shooting the target object at the reshooting position, moves a second mobile body which is the same as or different from the first mobile body, and controls the camera equipped on the second mobile body to shoot the target object at the reshooting position according to the second shooting parameter.

19. An information processing device comprising: a control unit that performs control to acquire image data obtained by capturing a target at a shooting position according to first shooting parameters using a camera provided on a first mobile body; a path processing unit that determines a reshooting position for reshooting the target based on the image data; and a parameter determination unit that determines a second shooting parameter different from the first shooting parameter as the shooting parameter for capturing the target at the reshooting position based on the image data, wherein the control unit moves a second mobile body that is the same as or different from the first mobile body, and performs control to capture the target at the reshooting position according to the second shooting parameter using a camera provided on the second mobile body.

Images