JP2007121528A - System and method for renewing map creation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new technique for renewing and creating maps for automatically creating and renewing the latest map information at less labor and cost. <P>SOLUTION: A system for renewing and creating maps for carrying out automatic creation or automatic renewal of a map by collecting image information imaged from a moving body and using the image information comprises: moving information collection means 16a and 16b having an imaging part attached to the moving body, an imaging attitude detection part for detecting an imaging attitude of the imaging part, and a position information acquiring part for acquiring position information of the moving body, and for creating map creation information by adding the attitude information and position information detected by the imaging attitude detection part to the image information output from the imaging part; and a map creation and renewal means 22 having an object position shape specifying part 28 for specifying the position and shape of an object in the image information by analyzing created map creation information and a map creation part 26 for creating the map by arranging the object specifying the position and the shape at a corresponding position on the map. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a map creation update system and a map creation update method for automatically creating a map.

2. Description of the Related Art Conventionally, techniques for maintaining and changing maps using aerial photographs and satellite photographs have been proposed (see, for example, Patent Document 1 and Patent Document 2). A technique for updating a map using a mobile terminal has also been proposed (see Patent Document 3).
JP 2002-108905 A JP 2002-183764 A Japanese Patent Laid-Open No. 2002-7440

However, the aerial photograph and satellite photograph methods (Patent Document 1 and Patent Document 2) require enormous costs and are originally suitable methods for creating a wide area map. It can be said that it is unsuitable for use in creating detailed maps that are specific from the viewpoint of everyday consumers in a very small area in a specific region.
In other words, for example, a path that is difficult to see from the sky (for example, a mountain path covered with trees, a passage, a narrow road between buildings that is hidden from the sky behind a high-rise building) or an inconspicuous building Difficult to grasp and not accurate enough to be reflected on the map.

  In addition, even after map creation, the situation is constantly changing due to changes in topography, new construction and removal of buildings, etc. When viewed microscopically in a small area, for example, after a short period of time since road construction started. Minor changes in the situation occur on a daily basis, such as the completion of a detached house that has been completed, an old postbox has been removed and moved to another location, or the location of a bus stop has been changed. Therefore, if such a change in the situation cannot be followed, depending on the use of the map, there is a concern that the information on the map becomes obsolete.

  Regarding the update of information, a technique for updating map information using a mobile terminal has also been proposed (Patent Document 3). In this case, a person who provides information for updating the map (user of the mobile terminal) ) To be dedicated and to visit the area on a daily basis. This method takes an enormous amount of time, increases the work burden on the person who provides the information, and increases the burden on the cost. Also, in order to create and update a map, a full-time person with specialized ability is required, and it can be said that the burden of map creation (map update) is quite heavy in this respect.

  The present invention has been made in view of such circumstances, and its purpose is to provide a new map creation / updating technology capable of automatically creating and updating the latest map information with less effort and less cost. It is to provide.

The above object of the present invention is achieved by the following configuration.
(1) A map creation / updating system that collects image information captured from a moving body and automatically creates or automatically updates a map using the image information, the imaging unit attached to the moving body, and the imaging Posture information detected by the imaging posture detection unit in the image information output from the imaging unit, and having a position information acquisition unit that acquires position information of the moving body And a movement information collecting means for generating map creation information by adding the position information, and a subject for identifying the position and shape of the subject in the image information by analyzing the map creation information generated by the movement information collection means A map creation updating unit having a map creation unit for creating a map by arranging the subject having a specified position and shape at corresponding positions on the map surface. Map creation and update system.

  According to this cartographic update device, for example, a mobile body (especially a carrier such as a courier company or a mail collection / delivery company), a public bus, a vehicle such as a taxi, or the like that may repeatedly travel in a common area (particularly (It is not limited to cars, and animals such as motorbikes, bicycles, people, pets, etc. are also included in the moving body) from the image pickup unit to the map creation update means, and the captured image, posture information and position Send information, analyze image information etc. by map creation and update means, specify the position and shape of the subject as a candidate to be posted on the map, and select the subject (only subjects that satisfy the predetermined condition) In particular, it is possible to automatically create and update detailed map information from the viewpoint of a local consumer without excessive effort and low cost.

(2) The map creation / updating system according to (1), wherein the position information acquisition unit includes positioning means for positioning latitude and longitude using a GPS satellite (GPS: Global Positioning System). A cartographic update system.

  According to this map creation / updating system, it becomes possible to easily and accurately determine the position of the moving body by the positioning means using the GPS satellite, and the map creation accuracy is improved.

(3) The map creation / updating system according to (1) or (2), further comprising a wireless communication unit that transmits the map creation information generated by the movement information collecting unit to the map creation / updating unit. A featured cartographic update system.

  According to this map creation update system, map creation update can be performed in real time by wirelessly transmitting the collected map creation information to the map creation update means. In addition, there is no need to temporarily store the map creation information in a recording medium and transport the recording medium, thereby improving convenience.

(4) The map creation / updating system according to any one of (1) to (3), wherein the posture information includes an azimuth angle, a roll angle, and a pitch angle representing an imaging direction of the imaging unit. Each of the map creating / updating means extracts a common subject from at least two pieces of the image information, and extracts the subject from the position information added to the at least two pieces of image information. The distance between each imaging position with respect to the image information is obtained, the spatial angle formed by the imaging unit and the subject is calculated from the azimuth angle, roll angle, and pitch angle with respect to the image information of the posture information, and the obtained distance And a map creation / updating system that identifies the position and shape of the subject from the information of the spatial angle.

  According to this cartographic update system, the azimuth angle, roll angle, and pitch angle attitude information of the imaging unit measured by a triaxial geomagnetic sensor mounted on a moving body, and movement measured by a GPS receiver or the like With reference to the body position information, the position of the subject can be uniquely specified based on a plurality of pieces of image information, for example, based on the principle of triangulation. In addition, since the shape of the subject is specified based on the captured image from each imaging unit and information on the azimuth angle, roll angle, and pitch angle at the time of imaging, the information on the subject necessary for posting on the map is automatically and accurately It becomes possible to create.

(5) The map creation update system according to any one of (1) to (4), wherein the movement information collection unit has a function of adding date and time information at the time of imaging to the map creation information, The map creation update unit obtains the position and shape of the subject for a specific period with reference to date / time information in the map creation information, and determines whether the subject for the specific period exists on the map surface If the subject does not exist, a subject for the specific period is newly arranged on the map surface, and there is a subject that does not exist among the subjects that existed on the map The map creating and updating system, wherein the subject is deleted from the map surface.

  According to this map creation update system, the date and time information at the time of imaging is added to the map creation information, so that the map creation update means can reflect the subject existing in a specific period on the existing map. Can do. As a result, it is possible to automatically execute an immediate map update with less labor and less cost.

(6) The map creation / updating system according to (5), wherein a plurality of maps are prepared corresponding to the number of the specific periods, and based on the date / time information of the map creation information, A map creation / updating system, wherein the subject is arranged or deleted from any map corresponding to the date / time information.

  According to this map creation update system, for example, accumulation of map creation information is started by setting a plurality of specific periods and reflecting information at the time of imaging on a map corresponding to the period including the time of imaging. You can easily create a map by age. That is, it is possible to group image information (including additional information) accumulated over a long period by age group, and easily analyze image information for each group.

(7) The map creation / updating system according to any one of (1) to (6), wherein there are a plurality of the movement information collection means, and each of the plurality of movement information collection means individually generates the map creation information. A cartographic update system characterized by generating.

  According to this map creation / updating system, since there are a plurality of movement information collection means, the amount of information collection increases and the necessary information can be collected efficiently in a short period of time.

(8) A map creation / updating method that collects image information captured from a moving body and automatically creates or updates a map using the image information, and is output from an imaging unit that moves with the moving body A step of generating map creation information in which image information is added with posture information indicating the shooting posture of the imaging unit and position information of the moving body; and the generated map creation information is analyzed, A method for creating and updating a map, comprising: specifying a position and a shape of a subject, and creating a map by arranging the subject whose position and shape are specified on a map surface.

  According to this map creation update method, based on image information obtained from moving objects such as cars and motorcycles, the position and shape of the subject as a candidate to be posted on the map surface is specified, and this is arranged on the map surface Thus, a map can be created, a new subject can be added to the existing map, or an unnecessary subject can be deleted from the existing map to update the map. Therefore, it is possible to automatically create and update the latest map information without excessive effort and with low cost.

  According to the map creation update system and map creation update method of the present invention, map information obtained by collecting image creation information including image information output from an imaging unit attached to a moving body and posture information and position information is obtained. Analyzing the creation information by map creation and updating means, identifying the position and shape of the subject as a candidate to be posted on the map, and placing the subject on the map surface, the latest map information can be reduced with little effort It becomes possible to create and update automatically without any cost.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a cartographic update system according to the present invention will be described in detail with reference to the drawings.
The map creation / updating system of the present invention is a system that collects image information captured from a moving body and automatically creates or updates a map using this image information, from an imaging unit that moves with the moving body. The image information generated is generated by adding the posture information indicating the imaging posture of the imaging unit and the position information of the moving body to the output image information, and the generated map generation information is analyzed to obtain the image information. The position and shape of the subject inside are specified, and the subject with the specified position and shape is arranged on the map surface to create a map. Below, the specific example of this map creation update system is demonstrated.

(First embodiment)
FIG. 1 is a schematic configuration diagram showing an example of a map creation / updating system according to the present invention.
As shown in the figure, movement information collection devices 16a and 16b, which are movement information collection means, are attached to a transport vehicle 14a such as a courier as a moving body and a taxi vehicle 14b, respectively. 16b are equipped with an imaging unit, a triaxial geomagnetic sensor, a GPS receiver, a wireless communication device, and the like.

  The transport vehicle 14a, the taxi vehicle 14b, or the public bus is a moving body that may repeatedly travel on the road 12 in the common area almost every day, and the movement information collecting device is provided on the moving bodies 14a and 14b. By installing 16a and 16b, an image around the road 12 can be taken on a daily basis without being particularly conscious.

  In the present invention, the moving body may be a motorcycle or a bicycle in addition to the vehicle as described above. In addition, an article that moves with a person such as a helmet that covers a person or a person's head, a pet animal (for example, a camera attached to a collar of a pet animal), and the like can be handled as a moving object. The number of moving bodies is not limited to two as in the illustrated example, and it is preferable to use a large number of moving bodies simultaneously. Since there are a plurality of movement information collection means, the amount of information collection increases and necessary information can be collected efficiently in a short period of time.

  Here, the area to be imaged, the imaging target, the imaging timing, and the like can be set in advance. For example, when traveling on a road 12, a condition that an image of the vicinity of the building 10 along the road 12 must be captured is set in the movement information collection devices 16a and 16b. When it is detected that the movement information collection device is approaching the building 10, the imaging is automatically performed. The captured image at this time may be a moving image or a still image. As a result, it is possible to capture a desired image without making the driver of the transport vehicle 14a or the taxi vehicle 14b aware of it and without applying any burden.

  The movement information collection devices 16a and 16b attached to the transport vehicle 14a and the taxi vehicle 14b add the attitude angle (direction on the horizontal plane) of each imaging unit detected by the triaxial geomagnetic sensor to the image information captured by the imaging unit. Azimuth angle, roll angle representing the tilt angle in the vertical plane, pitch angle that is the tilt angle in the vertical direction from the horizontal plane) information, and current position information of the movement information collection device measured by the GPS receiver. Is transmitted wirelessly as cartographic information.

  The transmitted map creation information (including image information, attitude angle information and current position information) is sent to the map server 22 which is a map creation update means via the relay station 18 and the communication network (Internet etc.) 20. .

  The map server 22 includes a communication unit 24, a map creation unit 26, a subject position / shape specifying unit 28, an image storage unit 30, and a map database 50. The image storage unit 30 stores the image information sent from the movement information collection devices 16a and 16b. The map database 50 stores the created map (or updated map).

  The subject position / shape specifying unit 28 analyzes the map creation information (including the captured image, the posture angle information, and the current position information) received from the movement information collection devices 16a and 16b, received by the communication unit 24.

  For example, a plurality of images are taken out, and a common subject (subjects as candidates for posting on a map: for example, roads, buildings, public facilities, fields, forests, etc.) Extract). At this time, by providing conditions for the size and feature amount of the subject, only subjects that satisfy the condition can be selectively extracted. Then, the position and shape with respect to the extracted subject are specified. This specifying method will be described later with reference to FIG.

  The map creation unit 26 arranges the subject whose position and shape are specified on the map surface, and creates the latest map. Arrangement on the map surface means that character information representing a subject, graphic information such as a shape and a symbol (mark), and the like are described at a predetermined position on the map surface. The created map is displayed on a display (not shown), stored in a recording medium, or printed by a printer (not shown). In FIG. 1, reference numeral 100 indicates a printed map.

  In this way, by mounting the movement information collection devices 16a and 16b on a moving body that may repeatedly travel in a common area, and capturing a daily landscape in a predetermined area regularly or irregularly, It is possible to easily collect a large amount of map creation information such as image information for a predetermined area (attention area) without imposing a burden on a specific person. Then, the map server 22 analyzes the image and automatically extracts the subject, specifies the position and shape, and arranges it on the map surface, so that a new map (particularly from the viewpoint of the local consumer) Detailed and detailed maps) can be automatically created without excessive effort and cost.

FIG. 2 is a block diagram showing an internal configuration of the movement information collection device of FIG.
As illustrated, the movement information collection device 16 (16a, 16b) includes a wireless antenna AN, a transmission / reception unit 40, a data processing unit 42, an imaging unit 44 such as a CCD camera, an image processing unit 46, a moving body control unit 48, A GPS receiver 50, an attitude angle calculation unit 54, a triaxial geomagnetic sensor 52 such as a triaxial gyro, and a time measuring unit 60 for setting date and time information at the time of imaging. FIG. 3 is a block diagram showing the internal configuration of the map server 22 of FIG. In FIG. 3, the same reference numerals are given to the portions common to the above-mentioned drawings.

  As illustrated, the communication unit 24 includes a communication front end 23 and a data processing unit 25. The control unit 27 comprehensively controls the operation of the map server 22. In addition, a RAM 29, an image storage unit 30, a ROM 31 for storing a map creation update program 33, an operation key 35, a display unit 37, a printing unit 39, a map database 50 in which a created map is stored, and the like are provided. .

  FIG. 4A is a diagram for explaining a method of specifying the position of the subject from the positions of the imaging units of the two moving bodies and the attitude angles (azimuth angle, roll angle, pitch angle) of each camera. FIG. 4B is a diagram for explaining a method of specifying the shape of the subject from the captured image by each imaging unit and the attitude angle (azimuth angle, roll angle, pitch angle) of each imaging unit.

  As described above, the map creation information sent from the movement information collection device 16 is the captured image and the position and orientation angle information of the imaging unit itself, and the position and shape of the subject are unknown. Therefore, it is necessary to recognize the subject from the map creation information through arithmetic processing such as image processing.

First, the position of the subject can be calculated as follows.
In FIG. 4A, the image capturing units of the two moving bodies correspond to the image capturing units 44 of the movement information collecting devices 16a and 16b in FIG. 1, but here, a simple model will be described. Assume that the two imaging units are A and B, respectively, and the building of the subject is C.

  First, the distance X between the imaging units is calculated from the position information of the cameras A and B measured by the GPS receiver 50 (see FIG. 2). Next, from the azimuth, roll angle, and pitch angle of each imaging unit A, B measured by the triaxial geomagnetic sensor 52 (see FIG. 2), the angles Aθ and Bθ of the line segment that connects each imaging unit to the subject, etc. Then, a spatial angle representing the imaging direction (referred to as a spatial angle) is calculated. As a result, a point on the subject C corresponding to the apex of the triangle whose base is X is uniquely determined, and thereby the absolute position of the subject C is obtained.

In addition, the shape of the subject (C) can be obtained as follows.
In FIG. 4B, P and Q conceptually show images taken by the imaging units A and B of the two moving bodies, respectively. As shown in the figure, the subject C, which is a common building, is displayed in both the images P and Q. Further, since the imaging positions of the respective imaging units and the attitudes to the subject are different, the appearance shapes of the subject C are different from each other. Therefore, the captured images from the image capturing units A and B are appropriately corrected with reference to the azimuth, roll angle, and pitch angle of the image capturing units A and B, respectively, image processing such as contour extraction and feature amount extraction, and synthesis. By performing the processing, the external shape of the subject C can be specified. Recognition and detection of the external shape of the subject C can be achieved by using a well-known image processing technique and automatic recognition technique.

  As described above, the position of the subject can be specified based on a plurality of images by referring to the position information of the imaging units A and B measured by the GPS receiver 50 (see FIG. 2). The shape of the subject can be specified based on the captured images of the cameras A and B, information on the azimuth angles, roll angles, and pitch angles of the imaging units A and B. Therefore, it is possible to automatically acquire information on the subject C necessary for posting on the map based on the map creation information sent from the movement information collection device side.

The main procedure of the map creation process in the present embodiment described above will be described.
FIG. 5 is a flowchart showing an example of the main procedure of the map creation method of the present invention.
First, image information is transferred from the movement information sleeve 16 which is a moving body (step 1: S1), and imaging information (current position information, azimuth angle, roll angle and pitch angle attitude information) is also transmitted along with this image. It is also transferred (S2).

  Then, the transferred image information and imaging information as map creation information are stored in the map server 22 on the network (S3). Next, the map server 22 extracts candidate objects to be placed on the map for artifacts and natural objects having a predetermined size, such as buildings, roads, and rivers, from a plurality of images (S4). At this time, for example, it is possible to set a condition that only a building having three or more floors is extracted, and to extract only a thing having a feature amount that satisfies the condition as a subject. Note that if there is no subject to be extracted in S4, the map creation process is terminated.

  Next, the position of the subject is detected from the imaging information of a plurality of images (S5), and the shape of the subject is detected from the imaging information of the plurality of images (S6). Then, the subject is placed on the map surface (S7). The above processing is repeated (S8), and the subject is placed on the map surface. As a result, a map is automatically created.

  As described above, according to the map creation / update system of the present invention, there is a possibility of repeatedly traveling in a common area such as a carrier vehicle, a taxi, or a public bus such as a courier company or a mail collection and delivery company. From the movement information collection device attached to the moving body, the map creation information including the captured image information and the posture information and position information of the imaging unit is transmitted to the map server connected to the communication network, and the map server Analyzing cartographic information, identifying the location and shape of subjects as candidates for posting on the map, and placing the subject on the map surface, so that the latest map information, especially the viewpoint of local consumers It is possible to automatically create and update a detailed map that is specific from the viewpoint of effort without much effort and cost.

  In addition, information on the azimuth angle, roll angle, and pitch angle of each imaging unit measured by a triaxial geomagnetic sensor mounted on the movement information collection device, and position information on the imaging unit measured by a GPS receiver, etc. The position of the subject can be specified based on a plurality of images, and the subject's position can be determined based on the captured image from each imaging unit and information on the azimuth angle, roll angle, and pitch angle of each imaging unit. The shape can be specified, and therefore the information of the subject necessary for posting on the map can be automatically acquired based on the image information sent from the movement information collection device.

(Second Embodiment)
Next, a second embodiment of the cartographic update system according to the present invention will be described.
In the system of the present embodiment, in addition to a new map creation process, an existing map update process can also be performed. Since the new map creation process has been described in the above embodiment, only the map update process will be described in the following description.
FIG. 6 is a schematic configuration diagram showing another example of the map creation / update system of the present invention. In FIG. 6, the same reference numerals are given to portions common to FIG. 1, and description thereof is omitted.
In the map creation / update system of the present embodiment, the difference from FIG. 1 is that the map server 22 is provided with a map element change detection unit 32 and a map update unit 34. In FIG. 6, the map database 50 shown in FIG. 1 is omitted.

  As shown in FIG. 2, the movement information collection devices 16 a and 16 b are provided with a time measuring unit 60, which can output imaging date and time information indicating the time when an image is captured. In the system of FIG. 6, the movement information collection devices 16a and 16b add the imaging date and time information to the map creation information and wirelessly transmit it.

  Next, the map element change detection unit 32 in the map server 22 refers to the imaging date and time information and updates the existing map from the creation time of the existing map in order to update the created map registered in the map database (not shown). Then, images up to a predetermined time (for example, the current time) after the creation time are analyzed based on the procedure described in the above-described embodiment, and the position and shape of the subject are specified. The subject whose position and shape are specified is compared with the subject information on the existing map to determine whether the subject is also present on the existing map. It is determined whether there is a subject that no longer exists among the existing subjects.

  If the subject whose position and shape are specified does not exist on the existing map, the map update unit 34 newly arranges the subject on the map surface. Further, if there is a subject that no longer exists among subjects existing on the existing map, the subject is deleted from the map surface. In this way, the existing map is updated.

  In this way, the imaging date and time information is added to the map creation information, and the map server analyzes the image information acquired from the time of creation of the existing map to the predetermined time after the creation time, and the position of the subject. Identify the shape, compare with existing map subjects, detect subjects that should be newly added, and subjects that no longer exist, and reflect the detection results on the map Thus, it is possible to automatically perform an immediate map update with a small amount of labor and a low cost.

FIG. 7 is a flowchart showing an example of main procedures of the map update method of the present invention.
First, map creation information including image information is transferred from the movement information collection devices 16a and 16b (S10), and together with this map creation information, each of the imaging information (current position information, azimuth angle at the time of imaging, roll angle and pitch angle) Information) is transferred together (S11). In addition, the imaging date and time information is transferred together with the image information (S12).

  Then, the image information, the imaging information, and the imaging date / time information are stored in the map server 22 on the network, which is the map creation / update means (S13). Next, the map server 22 refers to the imaging date and time information, and selects images accumulated from the last update of the map to the current time (predetermined time) (S14).

  From these selected images, candidate objects to be placed on a map of artifacts and natural objects having a predetermined size such as buildings, roads, rivers, etc. are extracted (S15). At this time, for example, it is possible to set a condition for extracting only buildings having three or more floors, and to extract only those having a feature amount satisfying the condition as subjects.

  In S15, when there is no subject to be extracted, among the objects existing on the existing map, when there is an object that is clearly not present when viewed from a plurality of pieces of image information, The object is deleted from the map (S20). After this S20 is executed, the map update process is terminated.

  If there is an extracted subject in S15, the position of the subject is detected from the imaging information of a plurality of pieces of image information (S16). Next, the shape of the subject is detected from the imaging information of a plurality of pieces of image information (S17).

  Next, it is determined whether the subject whose position and shape are specified exists in the existing map and the shape is the same (S18), and if the presence is confirmed and the shape is also the same. Returning to S15, if not, the subject is newly added on the map surface, thereby updating the existing map information (S19).

  According to this embodiment, the position and shape of the subject are identified by analyzing image information acquired from the time of creation of the existing map to a predetermined time after the creation time, and compared with the subject of the existing map By executing the determination, the subject to be newly added and the subject that no longer exists are detected, and the result of the detection is reflected in the map, thereby automatically performing an immediate map update. be able to.

(Third embodiment)
Next, a third embodiment of the cartographic update system according to the present invention will be described.
In the system of the present embodiment, in addition to the new map creation process, maps by age are created from images of a predetermined area accumulated over a long period of time. Since new map creation processing has already been described in the above-described embodiment, only the map creation processing by age group will be described in the following description.
FIG. 8 is a schematic configuration diagram showing still another example of the map creating / updating system of the present invention. In FIG. 8, the same reference numerals are given to the portions common to FIG. 1 and the description thereof will be omitted.

  In the map creation / updating system of this embodiment, the difference from FIG. 1 is that the map server 22 is provided with an image grouping unit 36 by age and a map creation unit 38 by age. In FIG. 8, the map database 50 shown in FIG. 1 is omitted.

  As shown in FIG. 2, the movement information collection devices 16 a and 16 b are provided with a time measuring unit 60 so that imaging date and time information representing the time point when an image is captured can be detected. In the system shown in FIG. 8, the movement information collection devices 16a and 16b add imaging date / time information to the map creation information and wirelessly transmit it.

  The image grouping unit 36 by age of the map server 22 refers to the imaging date / time information indicating the imaging time point, groups the image information accumulated in the image accumulation unit 30 for each predetermined age, It is passed to the map creation unit 38.

  The map creation unit 38 for each age performs image information analysis for each group (similar to the first embodiment), extracts the subject, specifies the position and shape of the subject, and places the subject on the map surface. Then, create a map by age.

According to the map creation and update system of the present embodiment, image information (including imaging information) accumulated over a long period is grouped according to age, and analysis of image information is performed for each group. It is possible to automatically create a map by age group at a low cost.
Therefore, it is possible to routinely record the change of the geographical landscape and the specific subject over time. Thereby, for example, it becomes possible to easily know the history of the transition of one city through a specific map viewed from the viewpoint of a consumer.

FIG. 9 is a flowchart showing an example of the main procedure of the map creation method by age of the present invention.
First, image information is transferred from the movement information collection devices 16a and 16b (S21), and imaging information (information on current position information, azimuth angle, roll angle, and pitch angle) is transferred together with this image information (S21). S22). In addition to the image information, the imaging date / time information is also transferred (S23).

  Next, image information, imaging information, and imaging date / time information are accumulated in the map server 22 on the network, which is a map creation / update means (S24). Then, in the map server 22, the images are grouped for each predetermined age (S25).

  Next, candidate objects to be placed on a map are extracted from a plurality of images belonging to the same age group, such as buildings, roads, rivers, and the like, which are artificial or natural objects having a predetermined size (S26). At this time, for example, it is possible to set a condition for extracting only buildings having three or more floors, and to extract only those having a feature amount satisfying the condition as subjects. In S26, when there is no subject to be extracted, the process proceeds to S31, the age group is changed, and S25 and S26 are performed again.

Next, the position of the subject is detected from the imaging information of a plurality of images of the same age (S27), and then the shape of the subject is detected (S28). Then, the subject is placed on a map of the same age (S29). If there is another subject (S30), the process returns to S26 and continues.
In S30, if there is no other subject, the process proceeds to S31, the age group is changed, and S25 and S26 are performed again. If there are no groups of other ages remaining in S31, the creation of maps by ages is terminated (S31).

  In other words, a plurality of maps are prepared corresponding to the number of specific periods, and based on the date / time information of the generated map creation information, one of the maps corresponding to the date / time information is selected. Place and delete the subject. In this way, a plurality of specific periods are set, and information at the time of imaging is reflected on the map corresponding to the period including the time of imaging.

  According to the above map creation and update system, image information (including additional information) accumulated over a long period is grouped by age, and image information is analyzed for each group, with less labor and less cost, It is possible to automatically create and update maps according to ages, and it is therefore possible to record daily changes in the geographical landscape and specific subjects over time. Further, it is possible to automatically collect images of a plurality of subjects in a common area without having to provide a full-time worker who is responsible for taking images.

  As mentioned above, although this invention was demonstrated based on each embodiment, this invention is not limited to this, A various deformation | transformation is possible. For example, the imaging unit may be installed not only outside the moving body, but also inside, and when displaying a subject (target object) on a map, it is displayed with a landmark icon of a specific shape. May be. Further, in each of the above embodiments, the collected map creation information is transmitted to the map server by wireless communication, but without using a dedicated wireless communication device, such as a general mobile phone or a portable terminal device. It may be transmitted via a device connectable to the Internet. Further, the present invention is not limited to this. For example, the mobile information collection device temporarily accumulates the collected map creation information in an information recording medium such as a memory, a hard disk, or an optical recording medium, and brings the information recording medium to the map server side. It is good also as a system which inputs via this input device. In this case, since the wireless communication means becomes unnecessary, the cost of the infrastructure can be reduced. The system can be realized more easily.

It is a schematic block diagram which shows an example of the map creation update system which concerns on this invention. It is a block diagram which shows the internal structure of the movement information collection apparatus of FIG. It is a block diagram which shows the internal structure of the map server of FIG. (A) is a figure for demonstrating the method to pinpoint the position of a to-be-photographed object from the position of two cameras, and the attitude angle (azimuth angle, roll angle, pitch angle) of each camera, (b) It is a figure for demonstrating the method to identify the shape of a to-be-photographed object from the captured image by a camera and the attitude angle (azimuth angle, roll angle, pitch angle) of each camera. It is a flowchart which shows the example of the main procedures of the map creation method of invention. It is a schematic block diagram which shows the other example of the map creation update system of this invention. It is a flowchart which shows the example of the main procedures of the map update method of this invention. It is a schematic block diagram which shows the other example of the map creation update system of this invention. It is a flowchart which shows the example of the main procedures of the map preparation method classified by age of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Building as subject 12 Road 16 (16a, 16b) Movement information collection device 18 Relay station 22 Map server (map creation update means)
DESCRIPTION OF SYMBOLS 23 Communication front end 24 Communication part 25 Data processing part 26 Map creation part 27 Control part 28 Position / shape specific part 30 Image storage part 32 Change detection part 33 Map creation update program 34 Map update part 36 Image grouping part 38 Map creation part DESCRIPTION OF SYMBOLS 40 Transmission / reception part 42 Data processing part 46 Image processing part 48 Mobile body control part 50 Map database 52 Triaxial geomagnetic sensor 54 Attitude angle calculation part 60 Timing part AN Wireless antenna

Claims (8)

A map creation and update system that collects image information captured from a moving object and uses this image information to automatically create or update a map,
Image information output from the imaging unit, including an imaging unit attached to the moving body, an imaging posture detection unit that detects an imaging posture of the imaging unit, and a position information acquisition unit that acquires position information of the moving body Movement information collecting means for adding the posture information detected by the imaging posture detection unit and the position information to generate map creation information;
Analyzing the cartographic information generated by the movement information collecting means to identify the position and shape of the subject in the image information, the object position shape specifying unit, and the subject having the specified position and shape on the map surface A map creating / updating system comprising a map creating / updating unit having a map creating unit arranged at a position to create a map. A cartographic update system according to claim 1,
A map creation / updating system, wherein the position information acquisition unit includes positioning means for positioning latitude and longitude using a GPS satellite (GPS: Global Positioning System). A map creation / updating system according to claim 1 or claim 2,
A map creation / updating system, comprising: wireless communication means for transmitting the map creation information generated by the movement information collection means to the map creation update means. The map creation / updating system according to any one of claims 1 to 3,
The posture information includes azimuth angles, roll angles, and pitch angles representing the imaging direction of the imaging unit,
The map creating / updating means extracts a common subject from at least two pieces of the image information, and for the extracted subject, the position information added to the at least two pieces of image information is used for the image information. A distance between the imaging positions is obtained, and a spatial angle formed by the imaging unit and the subject is calculated from an azimuth angle, a roll angle, and a pitch angle of the posture information with respect to the image information, and the obtained distance and the space are calculated. A cartographic update system characterized by identifying the position and shape of the subject from angle information. A map creation / update system according to any one of claims 1 to 4,
The movement information collection means has a function of adding date and time information at the time of imaging to the map creation information,
The map creation update unit obtains the position and shape of the subject for a specific period with reference to date / time information in the map creation information, and determines whether the subject for the specific period exists on the map surface If the subject does not exist, a subject for the specific period is newly arranged on the map surface, and there is a subject that does not exist among the subjects that existed on the map The map creating and updating system, wherein the subject is deleted from the map surface. A cartographic update system according to claim 5,
A plurality of maps are prepared corresponding to the number of the specific periods, and based on the date and time information of the map creation information, the subject is compared with any map corresponding to the date and time information among the plurality of maps. A cartographic update system characterized by placement and deletion. The map creation / update system according to any one of claims 1 to 6,
A map creation / updating system characterized in that a plurality of the movement information collection means exist, and each of the plurality of movement information collection means individually generates map creation information. A map creation / updating method that collects image information captured from a moving object and automatically creates or updates a map using the image information,
Generating map information that includes image information output from an imaging unit that moves together with the moving body, and posture information that represents the imaging posture of the imaging unit, and position information of the moving body;
Analyzing the generated cartographic information to identify the position and shape of the subject in the image information;
Arranging the subject whose position and shape are specified on a map surface to create a map;
A cartographic update method characterized by comprising:

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