Mobile object, control device, and imaging method

A control device for controlling an image data acquisition device that images two-dimensional image data of a target object using an imaging element based on a three-dimensional data of the target object, to generate a three-dimensional model of the target object,

• the control device comprising a processor configured to:
• determine whether the target object included in a single imaging range of two-dimensional image data imaged by the image data acquisition device, is planar based on the three-dimensional data;
• determine a moving distance until next two-dimensional image data is imaged as a first distance and an overlapping rate of the next two-dimensional image data imaged based on the first distance as a first overlap rate, in a case where it is determined that the target object is planer;
• and
• determine the moving distance until the next two-dimensional image data is imaged as a second distance and the overlapping rate of the next two-dimensional image data imaged based on the second distance as a second overlap rate, in a case where it is determined that the target object is non-planer,
• wherein the first distance is set longer than the second distance and the first overlapping rate is set smaller than the second overlapping rate, thereby reducing an amount of the two-dimensional image data acquired by the image data acquisition device in a case where it is determined that the target object is planar, and reducing processing load in generating the three-dimensional model using the two-dimensional image data.