# US 10,767,990 B2 · Device, method, and system for processing survey data, and program therefor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,990 B2 - Document ID: US10767990B2 - Status: Granted - Kind: B2 - Application number: 15/923,104 - Filed: 2018-03-16 - Published: 2018-09-27 - Granted: 2020-09-08 - Earliest claimed: 2017-03-22 - Assignees: Topcon Corporation - Applicants: Topcon Corporation - Inventors: You Sasaki - Web page: https://patentgrep.com/patent/US10767990B2 ## CPC - G01C 11/06: by comparison of two or more pictures of the same area - G06T 7/73: using feature-based methods - G06T 7/97: {Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85)} - G06V 10/225: {based on a marking or identifier characterising the area} - G06V 20/13: Satellite images - G06V 20/17: taken from planes or by drones - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T 2207/30181: Earth observation - G06T 2207/30204: Marker - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Highly accurate aerial photogrammetry is performed while avoiding increase in cost. A survey data processing device includes an image data receiving part, a location data receiving part, an identification marker detecting part, an identifying part, and a location identifying part. The image data receiving part receives image data of aerial photographs of vehicles. The vehicles are equipped with GNSS location identifying units and identification markers, respectively. The location data receiving part receives location data of the vehicles that are identified by the respective GNSS location identifying units. The identification marker detecting part detects the identification markers of the vehicles from the image data. The identifying part identifies each of the vehicles in the aerial photographs. The location identifying part identifies locations of ground control points (GCPs) in the aerial photographs by using the location data of the vehicles and by using the identification information. ## Claims ### Claim 1 A survey data processing system comprising a processor or circuitry configured to execute the following processing by using image data of aerial photographic images that are obtained from an aerial vehicle that is flying, the aerial vehicle mounted with an inertial navigation unit and a first GNSS location identifying unit for identifying location by using a GNSS, the processing comprising: receiving image data of aerial photographic images obtained by photographing a vehicle from the aerial vehicle, the vehicle configured to travel on a ground and equipped with a second GNSS location identifying unit and an identification marker for distinguishing the vehicle, the second GNSS location identifying unit configured to identify location by using a GNSS; receiving location data of the vehicle that is obtained by the second GNSS location identifying unit; detecting the identification marker of the vehicle in the image data; identifying the vehicle in the aerial photographic images by using the identification marker; identifying a location of the identification marker on a basis of the location data of the vehicle and identification information obtained by identifying the vehicle; acquiring two or more aerial photographic images from among the image data, the two or more aerial photographic images being obtained from the aerial vehicle that is flying, at different viewpoints, and containing the same area; acquiring the identification marker from each of the acquired two or more aerial photographic images; calculating location of the identification marker that is acquired from each of the acquired two or more aerial photographic images, by a method of intersection; and comparing the calculated location of the identification marker with location of the identification marker that is identified by the second GNSS location identifying unit. ### Claim 2 (depends on 1) The survey data processing system according to claim 1, wherein the location of the identification marker is identified by using a direction of the vehicle in a horizontal direction and the location data of the vehicle. ### Claim 3 (depends on 2) The survey data processing system according to claim 2, wherein the direction of the vehicle in the horizontal direction is determined by using data of positions of multiple parts on the vehicle. ### Claim 4 (depends on 1) The survey data processing system according to claim 1, wherein the location of the identification marker is identified by using tilt of the vehicle and the location data of the vehicle. ### Claim 5 (depends on 2) The survey data processing system according to claim 2, wherein the vehicle is equipped with a plurality of the identification markers, and the direction of the vehicle in the horizontal direction is calculated by using a positional relationship between the plurality of the identification markers. ### Claim 6 (depends on 2) The survey data processing system according to claim 2, wherein the direction of the vehicle in the horizontal direction is calculated by using aerial photographs that are viewed from different visual points. ### Claim 7 (depends on 4) The survey data processing system according to claim 4, wherein the tilt of the vehicle is determined by using data of positions of multiple parts on the vehicle. ### Claim 8 (depends on 1) The survey data processing system according to claim 1, further comprising: a feature point extracting part that extracts a feature point from the aerial photograph, wherein a feature point relating to the vehicle of which the identification marker is detected is not used as a feature point in the image of the aerial photograph. ### Claim 9 (depends on 1) The survey data processing system according to claim 1, further comprising: a search area setting part that detects a mobile body configured to travel on the ground, by using image data of aerial photographs taken at different times, and sets an area for searching for the identification marker on the basis of a result of the detecting. ### Claim 10 A survey data processing method that uses image data of aerial photographic images obtained from an aerial vehicle that is flying, the aerial vehicle mounted with an inertial navigation unit and a first GNSS location identifying unit for identifying location by using a GNSS, the method comprising: receiving image data of aerial photographic images obtained by photographing a vehicle from the aerial vehicle, the vehicle configured to travel on a ground and equipped with a second GNSS location identifying unit and an identification marker for distinguishing the vehicle, the second GNSS location identifying unit configured to identify location by using a GNSS; receiving location data of the vehicle that is obtained by the second GNSS location identifying unit; detecting the identification marker of the vehicle in the image data; identifying the vehicle in the aerial photographic images by using the identification marker; identifying location of the identification marker on a basis of by using the location data of the vehicle and identification information obtained by identifying the vehicle; acquiring two or more aerial photographic images from among the image data, the two or more aerial photographic images being obtained from the aerial vehicle that is flying, at different viewpoints, and containing the same area; acquiring the identification marker from each of the acquired two or more aerial photographic images; calculating location of the identification marker that is acquired from each of the acquired two or more aerial photographic images, by a method of intersection; and comparing the calculated location of the identification marker with location of the identification marker that is identified by the second GNSS location identifying unit. ### Claim 11 A non-transitory computer recording medium storing computer executable instructions for executing the following processing by using image data of aerial photographic images that are obtained from an aerial vehicle that is flying, the aerial vehicle mounted with an inertial navigation unit and a first GNSS location identifying unit for identifying location by using a GNSS, the computer executable instructions made to, when executed by a computer processor, cause the computer processor to: receive image data of aerial photographic images obtained by photographing a vehicle from the aerial vehicle, the vehicle configured to travel on a ground and equipped with a second GNSS location identifying unit and an identification marker for distinguishing the vehicle, the second GNSS location identifying unit configured to identify location by using a GNSS; receive location data of the vehicle that is obtained by the second GNSS location identifying unit; detect the identification marker of the vehicle in the image data; identify the vehicle in the aerial photographic images by using the identification marker; identify location of the identification marker on a basis of the location data of the vehicle and identification information obtained by identifying the vehicle; acquiring two or more aerial photographic images from among the image data, the two or more aerial photographic images being obtained from the aerial vehicle that is flying, at different viewpoints, and containing the same area; acquiring the identification marker from each of the acquired two or more aerial photographic images; calculating location of the identification marker that is acquired from each of the acquired two or more aerial photographic images, by a method of intersection; and comparing the calculated location of the identification marker with location of the identification marker that is identified by the second GNSS location identifying unit.