JP2010156815A - Map information management device, map information management method, and map information management program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map information management device extracting a vacant area from a travel image and including information on the vacant area in map information. <P>SOLUTION: The map information management device acquires travel image data or the like on a road, carries out predetermined analysis processing on the image data, specifies vacant area information in the image data, and registers the vacant area information in the map information. Specifically, a vacant area information registering means registers the vacant area information in linkage with a link corresponding to an image data photographing position when the map information has the link. Since the map information management device thus specifies the vacant area from the image data and registers information on the vacant area in the map information, it can hold information for determining whether a road around a place regarding the image data photographing position is open or not. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a method for including information on an empty area from image data on a traveling road in map information.

  Map data used in a car navigation device or an application that displays a map by operating on a PC includes data related to the road such as the number of lanes of the road. Such road-related data is acquired by performing image recognition processing on image data taken on an actual road. Patent Document 1 describes an example in which a driving image on a road is captured by an in-vehicle camera and data relating to the road is acquired by image recognition processing.

JP 2005-98853 A

  However, if not only information on roads but also information on sky regions is extracted from the travel image, it is possible to obtain not only information on roads but also various useful information such as road prospects.

  Examples of the problems to be solved by the present invention include those described above. An object of this invention is to provide the map information management apparatus which extracts a sky area | region from a driving | running | working image and includes the information regarding the said sky area | region in map information.

  The invention according to claim 1 is a map information management device, wherein map information holding means for holding map information, image information acquisition means for acquiring shooting position information and image data, and analysis processing for the image data And an empty area information extracting means for specifying empty area information indicating an empty area in the image data, and an empty area information registering means for registering the empty area information in the map information related to the shooting position information. It is characterized by providing.

  The invention according to claim 7 is a map information management method in an apparatus for holding map information, an image information acquisition step for acquiring shooting position information and image data, an analysis process for the image data, and an image A blank area information extracting step for identifying blank area information indicating a blank area in the data, and a blank area information registration step for registering the blank area information in map information related to the shooting position information. And

  The invention according to claim 8 is a map information management program executed on a computer holding map information, an image information acquisition means for acquiring shooting position information and image data, and an analysis process for the image data. The computer functions as an empty area information extracting means for specifying empty area information indicating an empty area in image data, and an empty area information registering means for registering the empty area information in map information associated with the shooting position information. It is characterized by making it.

  In a preferred embodiment of the present invention, the map information management device is a map information holding unit that holds map information, an image information acquisition unit that acquires shooting position information and image data, and an analysis process for the image data. And an empty area information extracting means for specifying empty area information indicating an empty area in the image data, and an empty area information registering means for registering the empty area information in the map information related to the shooting position information. Prepare.

  The above map information management device can be specifically applied to a navigation device or a server device. The image information acquisition means acquires travel image data and the like on the road, and the sky region extraction means performs a predetermined analysis process (for example, median filter application process and binarization process) on the travel image data, The sky area information indicating the sky area in the travel image data is specified. The sky area information here refers to shape information (coordinate information) of the sky area specified from the image data, angle information formed by line segments respectively connecting the left and right end points of the sky area and the center point of the image data, and the like. . Then, the sky area information registration means registers the sky area information in the map information. Specifically, when the map information has a link, the sky area information registration unit registers the sky area information in association with the link corresponding to the shooting position of the image data.

  In this way, the map information management device identifies the sky area from the image data and registers the information about the sky area (sky area information) in the map information, so that the road around the place relating to the shooting position of the image data can be opened. Information that can be determined whether or not there is can be held.

  In one aspect of the map information management device, the sky area information is shape information of the sky area. In this case, since the map information management device holds the shape information of the sky region, it holds information that can guide the area of the sky region around the image data and the shape characteristics of the sky region (horizontal or vertical). Can do.

  In another aspect of the map information management device, the sky area information is information relating to angles formed by line segments respectively connecting left and right end points of the sky area and image data center points. In this case, the map information management apparatus can determine whether or not the road around the shooting position of the image data is open by referring to the information regarding the angle.

  In still another aspect of the map information management device, the sky region information includes left partial angle information and right partial angle information obtained by dividing the angle with respect to the image data center point. Dividing on the basis of the image data center point means dividing by drawing a perpendicular line from the center point to the upper side of the image. As described above, the map information management apparatus has the left partial angle and the right partial angle, and determines whether the shielding object is closer to the left or right by comparing the left partial angle and the right partial angle. Can do.

  In still another aspect of the map information management apparatus, the map information management apparatus further includes route search means for determining a route based on the empty area information. In this case, the map information management apparatus can perform a route search by giving priority to a road that is open using the registered sky area information.

  According to still another aspect of the map information management apparatus, the map information management device further includes an in-image object extracting unit that extracts an object in the empty region in the image data based on the empty region extracted by the empty region information extracting unit. In this case, since the map information management apparatus extracts a map object (for example, an electric wire or the like) from the sky area extracted by the sky area information extraction unit, the map information management apparatus starts from an area (such as a building periphery) that includes a plurality of object straight lines. An object can be appropriately extracted as compared with the case of extraction.

  In another embodiment of the present invention, there is provided a map information management method in an apparatus for holding map information, an image information acquisition step for acquiring shooting position information and image data, and an analysis process for the image data, An empty area information extracting step for specifying empty area information indicating an empty area in the data; and an empty area information registering step for registering the empty area information in map information related to the shooting position information. Even with such a map information management method, the sky area is identified from the image data, and information related to the sky area is registered in the map information. Therefore, it is determined whether or not the road around the location related to the image data shooting position is open. Information that can be stored.

  In still another aspect of the present invention, there is provided a map information management program executed on a computer holding map information, image information acquisition means for acquiring shooting position information and image data, and analysis processing for the image data. The computer functions as an empty area information extracting means for specifying empty area information indicating an empty area in image data, and an empty area information registering means for registering the empty area information in map information associated with the shooting position information. Let By executing such a map information management program on various devices, the map information management device of the present invention can be realized. This map information management program can be suitably handled in a state recorded on a recording medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Summary of Invention]
The map information management device according to the present invention is applied by, for example, a server device. As shown in FIG. 1A, the map information management apparatus 100 acquires image data on a road photographed by a navigation apparatus 300 connected to the photographing apparatus from the navigation apparatus 300, and performs analysis processing on the image data. To identify empty area information. Here, the sky region information refers to information regarding the range of the portion occupied by the sky in the image data. The empty area information includes narrowness. The narrowness is information indicating the width / narrowness (the breadth of the field of view) in which the sky can be seen. As a specific example, the point P2 that is the center point of the image region as shown in FIG. This is information relating to the angle Ang1 formed by the line segment connecting the points P1 and P3 which are the end points of the sky region. As described above, the map information management apparatus 100 performs image analysis processing on the image data acquired from the navigation apparatus 300, specifies a sky area in the image data, and sets information regarding the sky area as to a shooting position of the image data. It is managed in association with map information (for example, link information).

  According to this, since the map information management apparatus 100 can associate the information about the sky area around the shooting position of the image data with the map information, it can specify the visibility of the vicinity of the shooting position.

  Note that the image data is taken from a vehicle (for example, a field survey vehicle) equipped with the navigation device 300 connected to the photographing camera. Below, the navigation apparatus 300 connected with the imaging | photography camera is demonstrated.

[Navigation device]
FIG. 2 shows a configuration of a navigation device 300 according to the embodiment of the present invention. As shown in FIG. 2, the navigation device 300 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, and a voice output. A unit 50, an input device 60, and a photographing camera 70 are provided.

  The autonomous positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative orientation data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation apparatus 300.

  The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are mutually connected via a bus line 30. It is connected to the.

  The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, may be a CD and DVD compatible drive, or may be a hard disk recorder with a built-in TV tuner.

  The data storage unit 36 is composed of, for example, an HDD and stores various data used for navigation processing such as map data and facility data.

  The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and traffic congestion and traffic information distributed from a VICS (Vehicle Information Communication System) center via the communication interface 37. Road traffic information or various information (for example, weather information) from a predetermined server.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on a display screen such as a display. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 is composed of, for example, a liquid crystal display device having a diagonal of about 5 to 10 inches and is mounted near the front panel in the vehicle.

  The audio output unit 50 is a D / A converter 51 that performs D / A (Digital to Analog) conversion of audio digital data sent from the disk drive 31 or the RAM 24 via the bus line 30 under the control of the system controller 20. And an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into audio and outputs the audio into the vehicle. .

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

  Furthermore, the input device 60 also includes an audio unit. The voice unit includes a voice recognition unit and a microphone. Voice generated by the user is collected by a microphone and input to the voice recognition unit. The voice recognition unit recognizes a voice instruction from the user and supplies the recognition result to the system controller 20. Thereby, the user can input an instruction or the like by voice instead of the remote control or the touch panel.

  The photographing camera 70 is attached to the vehicle and performs photographing according to the control of the system controller 20. The system controller 20 converts the image data obtained through the photographing camera 70 into an image file, and the position information (shooting position information) at the time of photographing obtained through the GPS receiver 18 as attribute information of the image file. Add shooting direction information.

  The navigation device 300 stores the generated image file in the data storage unit 36 or transmits it to the map information management device 100 via the communication device 38.

[Map information management device]
FIG. 3 is a diagram showing a schematic configuration of the map information management apparatus 100 to which the map information management method according to the embodiment of the present invention is applied.

  In this embodiment, the map information management device 100 is configured by a server device, and includes a system bus 111, a CPU (Central Processing Unit) 112, a memory 113, a keyboard 114, a coordinate instruction device 115 such as a mouse, and a display. 116, a communication device 117, and a map information database 118. Here, the keyboard 114 and the coordinate instruction device 115 are input devices. The display 116 is an output device. The communication device 117 is a predetermined communication device that exchanges data with other devices. The CPU 112 controls the entire map information management device 100 and controls the input / output device.

  The CPU 112, the memory 113, and the map information database 118 are connected to the system bus 111. A keyboard 114, a coordinate instruction device 115, a display 116, and a communication device 117 are also connected to the system bus 111 via an interface (not shown). The memory 113 is also used as a working memory. The map information database 118 holds various types of map information in a table format or the like.

[Map information management unit]
FIG. 4 is a functional block diagram of the map information management unit 200. The map information management unit 200 is substantially composed of the components of the map information management device 100. As shown in FIG. 4, the map information management unit 200 includes an image information acquisition unit 201, a sky region information extraction unit 202, a sky region information registration unit 203, a route search unit 204, an in-image object extraction unit 205, and a spatial change detection. The unit 206 is provided.

  The image information acquisition unit 201 acquires an image file from the navigation device 300 via the communication device 117. Thereby, the image information acquisition unit 201 can acquire the image data included in the image file, information at the time of shooting, and information on the shooting direction. Here, the image information acquisition unit 201 acquires a plurality of image files.

  The sky area information extraction unit 202 performs various image analysis processes on the image data acquired by the image information acquisition unit 201 to extract sky area information. Here, the sky region information refers to information about the area of the sky region in the image data and information about the narrowness. Details will be described later.

  The sky area information registration unit 203 registers the sky area information extracted by the sky area information extraction unit 202 in the map information database 118.

  Here, various table information stored in the map database 118 will be described. For the nodes and links shown in FIG. 5A, the link table shown in FIG. 5B and the node table shown in FIG. 5C are stored in the map information database 118. Note that the link table shown in FIG. 5B and the node table column (ID 511 etc.) shown in FIG. 5C have the minimum configuration, and other columns may be added.

  In the link table illustrated in FIG. 5B, a record having ID 511, FromNodeID 512, ToNodeID 513, and Geometry 514 is retained. Here, ID511 is the ID of the object, FromNodeID512 indicates the ID of the node corresponding to the start position, ToNodeID513 indicates the ID of the node corresponding to the end position, and Geometry 514 is the shape data (point Column).

  In the node table illustrated in FIG. 5C, a record having an ID 521 and a Geometry 522 is held. Here, the ID 521 indicates the ID of the node, and the Geometry 522 indicates the shape data of the node.

  The narrowness table shown in FIG. 6A holds records having ID 531, Angle 532, Right Angle 533, Left Angle 534, and Camera Angle 535.

  ID 531 is an identifier for each record in the narrowness table. As shown in FIG. 6B, Angle 532 is an angle Ang1 formed by a line segment connecting the point P2 that is the center point of the image and the points P1 and P3 that are the end points of the sky region.

  As shown in FIG. 6C, the Right Angle 533 draws a perpendicular line from the point P2 to the upper side L1 of the image area, and sets the point that is the intersection of the perpendicular line and the upper side L1 as the point P4. This is the angle Ang2 formed by the line segment P2-P4.

  Left Angle 534 is an angle Ang3 formed by the line segment P1-P2 and the line segment P2-P4 shown in FIG.

  Camera Angle 535 is shooting direction information included as attribute information of the image file.

  7A and 7B show examples of link tables when the narrowness information is linked. FIG. 7A shows an example in which the narrowness is linked to one link, and FIG. 7B shows an example in which the narrowness is tied for each link direction.

  The narrow ID 541 in FIG. 7A and the From To Narrow ID 542 and the To From Narrow ID 543 in FIG. 7B each have the ID 531 of one of the records held in the narrowness table. As a result, the records in the link table in FIGS. 7A and 7B are linked to the records in the narrowness table.

  The route search unit 204 performs a route search with reference to the records in the link table and the narrowness table. Specifically, the route search unit 204 refers to Angle 532 of the narrowness table associated with the link corresponding to the route candidate when the user desires to drive on the road opened by the user. By selecting a link having a large Angle 532 value, a route search is performed with priority on the open road.

  The in-image object extracting unit 205 extracts an object (for example, an electric wire or the like) from an empty area in the image data.

  When the narrowness information exists for the link corresponding to the position of the acquired image data, the spatial change detection unit 206 compares the narrowness information extracted from the image data with the registered narrowness information, Detects whether there is a change in installed equipment.

[Map information management method]
Next, a method for extracting information related to the sky area from the image data by the map information management unit 200 will be described with reference to FIGS. 8A to 8D.

  First, it is assumed that the image information acquisition unit 201 has acquired the image data shown in FIG. Then, the sky area information extraction unit 202 performs a reduction process (thinning process) for speeding up the image data. Then, the sky region information extraction unit 202 applies a median filter to the image data and further binarizes it. The result is shown in FIG. Then, the sky region information extraction unit 202 divides the region using a known region growth method, and obtains a minimum rectangle (minX, minY−maxX, maxY) parallel to the coordinate axis surrounding each divided region. Then, the sky area information extraction unit 202 selects an area where minY = 0 and maxY is not the bottom surface 280 of each area. In the case of FIG. 8C, the empty area information extraction unit 202 selects the area 270A and the area 270B.

  The sky region information extraction unit 202 obtains the average HSV (H: Hue (hue), S: Saturation (saturation), V: Value (brightness)) in the region 270, and is the brightest (V value). ) The area is an empty area. In the case of FIG. 8C, the area 270B is an empty area. FIG. 8D shows an image specifying the empty area.

  Then, the sky area information extraction unit 202 uses the point P2 that is the center point of the image data, the left and right end points (points P1 and P3) of the sky area, and the like. The angle Ang2 that is and the angle Ang3 that is the left angle are obtained. The empty area information registration unit 203 registers the narrowness record including the V-shaped angle and the like in the narrowness table. Then, the empty area information registration unit 203 associates the registered narrowness record with the corresponding link record.

  As described above, the map information management unit 200 performs various image analysis processes on the acquired image data, extracts a sky region, registers a record relating to the narrowness indicating the size of the sky region, and records the narrowness of the narrowness. Register records and link records in association with each other.

  According to this, the map information management unit 200 can hold information that can be used to infer good visibility around the shooting position from the size of the sky area.

  Also, the sky region information extraction unit 202 calculates narrowness information (V-shaped angle, right angle, left angle) based on the sky region of the image data, and uses the narrowness as link information corresponding to the shooting position of the image data. It is tied. In this case, the map information management unit 200 can recognize whether the road around the link is open by referring to the narrowness corresponding to the link information.

  For example, as shown in FIG. 9A, when the V-shaped angle (angle Ang1) of the sky area is large, the map information management unit 200 can determine that the position of the sky area is an open space. it can.

  9B, when the right side (angle Ang2) of the V-shaped angle of the sky region is steep, the map information management unit 200 is closer to the right side than the left side because the shielding is closer and the space is narrow. Can be determined. Further, as shown in FIG. 9C, the map information management unit 200 can determine that the V-shaped angle of the empty area is a steep angle when the left and right angles are steep.

  The route search unit 204 searches for a route using the narrowness information registered by the sky region information registration unit 203. Specifically, the route search unit 204 refers to the narrowness related to the link as a route candidate, and when the user desires to pass a road with a wide field of view, the V-shaped angle of the narrowness A route that preferentially applies a link having a large angle Ang1 is presented. In addition, when the user desires to pass a road with a narrow field of view, the route search unit 204 presents a route that preferentially applies a link with a narrow V-shaped angle. In this way, the map information management unit 200 can present a route according to the field of view on the road.

  The in-image object extracting unit 205 extracts an object (for example, an electric wire) from the empty region specified by the empty region information extracting unit 202 from the image data.

  In this case, since the map information management unit 200 extracts the electric wire from the empty region after specifying the empty region, the map information management unit 200 extracts the electric wire from the height of the building including straight lines other than the electric wire. It is possible to appropriately extract objects such as electric wires.

  In the above-described embodiment, a case has been described in which the sky region information extraction unit 202 calculates the narrowness after extracting the sky region, and the sky region information registration unit 203 registers the narrowness in the map information. The invention is not limited to this. After the sky region information extraction unit 202 extracts the sky region, the sky region information registration unit 203 specifies the shape information (such as coordinate information in the image data) of the sky region. The shape information of the empty area may be registered in the map information, and the shape information and the link may be associated with each other. In this case, the map information management unit 200 can determine the visibility of the road at the image capturing position based on the area and shape characteristics derived from the shape information of the sky region.

  As shown in FIG. 10A, when the area of the sky region 290 is large and the shape of the sky region is horizontally long, the map information management unit 200 opens the image capturing position of the sky region 290. It can be determined that it is a place.

  As shown in FIG. 10 (B), when the area of the sky region 290 is slightly large and the shape of the sky region is horizontally long, the map information management unit 200 determines that the shooting position of the image of the sky region 290 is generally It can be determined that the place is like a road.

  As shown in FIG. 10C, when the area of the sky region 290 is small and the shape of the sky region is vertically long, the map information management unit 200 indicates that the shooting position of the image of the sky region 290 is a narrow road. Can be determined.

  As described above, the map information management unit 200 can determine the line-of-sight situation at the shooting position of the image by holding the shape information in the sky region.

[Map information management processing]
Next, map information management processing according to the present embodiment will be described with reference to FIG. FIG. 11 is a flowchart of the map information management process according to this embodiment. The map information management process is realized by the CPU 12 of the map information management apparatus 100 shown in FIG. 3 executing a program stored in the memory 13.

  First, the image information acquisition unit 201 acquires image data and the like (step S1). Then, the sky area information extraction unit 202 reduces the image data (step S2), and performs median filter application and binarization processing (step S3). The sky area information extraction unit 202 divides the area (step S4), and sets the area having the highest brightness among the upper areas of the image as the sky area (step S5). Then, the sky region information extraction unit 202 calculates the narrowness of the sky region (step S6), and the sky region information registration unit 203 registers the narrowness in the map information database 118, and the narrowness and image data. The link corresponding to the shooting position is linked (step S7), and the process ends.

  As described above, the map information management unit 200 performs analysis processing on the map information holding unit that holds the map information, the image information acquisition unit that acquires the shooting position information and the image data, and the image data. Empty area information extracting means for specifying empty area information indicating the empty area in the inside, and empty area information registering means for registering the empty area information in the map information related to the shooting position information.

  In this way, the map information management unit 200 identifies the sky area from the image data and registers information related to the sky area in the map information. Therefore, it is determined whether or not the road around the location related to the shooting position of the image data is open. Information that can be determined can be held.

[Other embodiments]
In the above-described embodiment, the sky region information extraction unit 202 extracts the information of the sky region, calculates the narrowness information of the sky region, and the sky region information registration unit 203 newly adds the narrowness information to the map information database 118. Although the case where registration is described has been described, the present invention is not limited thereto, and narrowness information is already associated with the same link, and when the registered narrowness and the newly calculated narrowness value are different, The space change detection unit 206 may notify that there is a space change.

  In this case, the map information management unit 200 can easily detect a spatial change at the same location and notify the spatial change by comparing the registered narrowness with the newly calculated narrowness. .

  In the above-described embodiment, the case where the map information management unit 200 associates the narrowness information with the link has been described. However, the present invention is not limited to this. It is also possible to provide a subdivided link every 5 m and link the subdivided link to the narrowness information. In this case, the map information management unit 200 associates the narrowness information with a link in a range close to the actual shooting position, so that the reliability of the narrowness information associated with the link can be improved.

  In the above-described embodiment, the map information management unit 200 has described the case where the sky area information is linked to the link. However, the present invention is not limited to this, and the information of each coordinate value that configures the link is narrow. The degree information may be linked.

  In the above-described embodiment, the case where the route search unit 204 searches for a route using narrowness information is described, but the present invention is not limited to this, and shape information of the sky region is registered as the sky region information. If it is, the route may be searched based on area information that can be specified from the shape information.

  Although not particularly described in the above-described embodiment, the map information management unit 200 extracts the peripheral image of the points at the opposite ends of the V-shaped area (for example, the points P1 and P3 in FIG. 6C). Then, a focus detection process using a Laplacian filter is performed on the extracted peripheral image, and a relative distance according to the depth of field of the mounted lens is calculated based on a value obtained as a result of the focus detection process. Also good.

  In this case, the map information management unit 200 can determine that the extracted image of the peripheral portion is so far if it is so-called out of focus, and can determine that it is close if it is in focus.

  Note that the precondition is that the image data is captured by a lens having a shallow depth of field and a focus that is not infinite.

  In the above-described embodiment, the case where the map information management unit 200 is applied to the server device has been described. However, the present invention is not limited to this, and may be applied to other various computer devices such as a navigation device. .

It is a figure explaining the outline | summary of a navigation apparatus and a server. It is a block diagram which shows schematic structure of a navigation apparatus. It is a block diagram of a server apparatus. It is a block diagram which shows the function structure of a map information management unit. It is a figure explaining data structures, such as a link table. It is a figure explaining the data structure of a narrowness table. It is a figure explaining the data structure of the link table containing narrowness. It is a figure explaining the extraction method of empty area information. It is a figure which shows the narrowness and the breadth of the visual field on a road. It is a figure which shows the area of an empty area | region, and the breadth of the visual field on a road. It is a flowchart of a map information management process.

Explanation of symbols

111 System bus 112 CPU
113 Memory 114 Keyboard 115 Coordinate Indicating Device 116 Display 117 Communication Device 118 Database 100 Map Information Management Device

Claims (9)

Map information holding means for holding map information;
Image information acquisition means for acquiring shooting position information and image data;
For the image data, analysis processing is performed, and sky area information extraction means for specifying sky area information indicating a sky area in the image data;
A map information management device comprising: sky region information registration means for registering the sky region information in map information related to the shooting position information.   The map information management apparatus according to claim 1, wherein the sky area information is shape information of the sky area.   The map information management apparatus according to claim 1, wherein the sky area information is information regarding angles formed by line segments respectively connecting left and right end points of the sky area and a center point of image data.   4. The map information management apparatus according to claim 3, wherein the sky area information includes left partial angle information and right partial angle information obtained by dividing the angle with respect to a center point of the image data.   The map information management apparatus according to any one of claims 1 to 4, further comprising route search means for determining a route based on the empty area information.   6. The in-image object extracting means for extracting an object in the empty area in the image data based on the empty area extracted by the empty area information extracting means. The map information management device described in 1. A map information management method in an apparatus for holding map information,
An image information acquisition step of acquiring shooting position information and image data;
For the image data, an analysis process is performed, and a sky area information extraction step for specifying sky area information indicating a sky area in the image data,
A map information management method comprising: a sky region information registration step of registering the sky region information in map information related to the shooting position information. A map information management program executed on a computer holding map information,
Image information acquisition means for acquiring shooting position information and image data;
A sky region information extraction unit that performs analysis processing on the image data and identifies sky region information indicating a sky region in the image data.
A map information management program for causing the computer to function as empty area information registration means for registering the empty area information in map information related to the shooting position information.   A storage medium storing the map information management program according to claim 8.

Images