| 摘要 |
PROBLEM TO BE SOLVED: To reconstitute a submarine three-dimensional structure by means of a practical approach. SOLUTION: In order to see a particular sea area from different visual fields, two sheet of two-dimensional images are obtained through ultrasonic imaging by sending ultrasonic signals from imaging view points P1t, P2t, which move with a ship 20 moving along at least two imaging paths spatially separated from each other on the ocean, and receiving reflected waves from a submarine structure. The region, where the two two-dimensional images obtained through ultrasonic imaging are considered to generally overlap with each other is extracted from each of the two two-dimensional images obtained through ultrasonic imaging as a common image region. A group of characteristic points is extracted from each of the extracted common image regions. By searching the group in one common image region for the characteristic points corresponding to each of the characteristic points in the group in the other common image region, and determining characteristic points in a correspondence relation as identification characteristic points Pt, three-dimensional coordinate data for each identification characteristic point Pt is determined from three-dimensional coordinate data for each of the corresponding imaging view points P1t, P2t obtained when each identification characteristic points Pt is imaged. By integrating the three-dimensional coordinate data obtained for each of the identification characteristic points Pt, the three-dimensional structure of the common image region is reconstituted. |
