Three-dimensional shape estimation method, three-dimensional shape estimation system, flying object, program and recording medium

A three-dimensional shape estimation method comprising:

• generating, during flight of a movable object and based on a plurality of first images, a first set of three-dimensional shape data for a flight range of the movable object, the first images being captured while the movable object moves along a second flight route;
• determining, during the flight, whether a loss area exists based on the first set of three-dimensional shape data for the flight range;
• controlling the movable object to move toward the loss area in response to a determination that the loss area exists;
• generating, during the flight, a first flight route for imaging the loss area at different altitudes;
• controlling the movable object to capture a plurality of second images in a horizontal direction toward the loss area with imaging ranges partially overlapped, while controlling the movable object to move along the first flight route;
• generating, based on the plurality of second images, a second set of three-dimensional shape data for the loss area;
• returning the movable object to the flight following the second flight route after acquisition of the second images;
• and
• acquiring the first images at imaging positions in the second flight route where no image has been previously captured.

A movable object comprising:

• a main body;
• and
• a processor coupled to the main body and configured to:
• generate, based on a plurality of first images captured by the movable object, a first set of three-dimensional shape data for a flight range of the movable object, the first images being captured while the movable object moves along a second flight route;
• detect, based on the first set of three-dimensional shape data for the flight range, a loss area;
• generate a first flight route for imaging the loss area at different altitudes;
• acquiring a plurality of second images, in a horizontal direction toward the loss area with imaging ranges partially overlapped, while the movable object moves along the first flight route;
• generate, based on the plurality of second images, a second set of three-dimensional shape data for the loss area;
• return the movable object to the flight following the second flight route after acquisition of the second images;
• and
• acquire the first images at imaging positions in the second flight route where no image has been previously captured.

A non-transitory computer-readable medium recording a program for causing a computer to:

• generate, based on a plurality of first images captured by a movable object, a first set of three-dimensional shape data for a flight range of the movable object, the first images being captured while the movable object moves along a second flight route;
• detect, based on the set of three-dimensional shape data for the flight range, a loss area;
• generate a first flight route for imaging the loss area at different altitudes;
• acquire a plurality of second images, the plurality of second images being captured in a horizontal direction toward the loss area with imaging ranges partially overlapped while the movable object moves along the first flight route;
• generate, based on the plurality of second images, a second set of three-dimensional shape data for the loss area;
• return the movable object to the flight following the second flight route after acquisition of the second images;
• and
• acquire the first images at imaging positions in the second flight route where no image has been previously captured.