Measurement system, work machine, and measurement method

A measurement system comprising:

• an imaging unit mounted to a swing body of a work machine to image a shape around the work machine;
• a position detection unit implemented in an antenna for global navigation satellite systems (GNSS) and configured to determine a position of the swing body;
• an imaging unit position calculation unit implemented in a processor and configured to calculate a position of the imaging unit when the imaging unit performs imaging during swinging operation of the swing body;
• and
• a three-dimensional position calculation unit implemented in a processor and configured to determine a three-dimensional position around the work machine during the imaging, on the basis of the position of the imaging unit calculated by the imaging unit position calculation unit,
• wherein the imaging unit position calculation unit calculates a swing angle of the swing body of the work machine during imaging performed by the imaging unit, and calculates the position of the imaging unit when the imaging unit performs imaging during swinging operation of the swing body based on the swing angle of the swing body,
• the three-dimensional position calculation unit determines a three-dimensional position of the surrounding of the work machine by using the swing angle of the swing body during the imaging, a position of the work machine determined by the position detection unit while the swing body is at rest before swinging, and an attitude of the work machine determined while the swing body is at rest before swinging, and results captured by the imaging unit at a plurality of positions in a swinging direction of the swing body,
• wherein the imaging unit position calculation unit calculates the position of the imaging unit on the bases of a plurality of common portions, between a plurality of two-dimensional images captured by the imaging unit during swinging operation of the work machine, by using a least squares method.