Optical data processing device, optical data processing method, and optical data processing program

An optical data processing device comprising:

• an image data receiving unit which receives image data of images photographed by a camera externally attached to a surveying device having laser scanning function,
• a laser scan data receiving unit which receives laser scan data which is obtained by laser scanning using the laser scanning function,
• a feature obtaining unit from image, which obtains feature of photographing object based on the image data,
• a feature extracting unit from laser scan data, which extracts feature of the laser scanning object base on the laser scan data,
• a correspondence relationship specifying unit which specifies correspondence relationship between feature of the photographing object and feature of the scanning object, and
• an orientating unit which calculates relationships of location and orientation between the camera and the surveying device based on the correspondence relationship,
• wherein the feature of laser scanning object is a feature of image of which 3D model obtained by the laser scan data is viewed from location of the laser scanning.

A method for processing optical data comprising steps of:

• detecting a first image among images photographed by a first camera included in a surveying device,
• detecting a second image among images photographed by a second camera externally attached on the surveying device,
• specifying correspondence relationship between the first image and the second image, and
• calculating relationships of location and orientation between the first camera and the second camera based on the correspondence relationship,
• wherein the first image and/or the second image is detected as an image having feature points of the maximal number and/or an image having feature points of number larger than a predetermined value, from objective images.

A non-transitory computer recording medium storing computer executable instructions, the computer executable instructions made to, when read and executed by a computer processor, cause the computer processor to execute the following steps of:

• detecting a first image among images photographed by a first camera included in a surveying device,
• detecting a second image among images photographed by a second camera externally attached on the surveying device,
• specifying correspondence relationship between the first image and the second image, and
• calculating relationships of location and orientation between the first camera and the second camera based on the correspondence relationship,
• wherein the first image and/or the second image is/are detected as an image having feature points of the maximal number and/or an image having feature points of number larger than a predetermined value, from objective images.