JP2011170599A - Outdoor structure measuring instrument and outdoor structure measuring method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To measure the location, shape and color of an outdoor structure. <P>SOLUTION: This outdoor structure measuring instrument includes: a location and shape specifying part 6 for analyzing point group data and locus data acquired by a three-dimensional data acquiring device 2, extracting an outdoor structure from outdoor features, specifying a three-dimensional location where the outdoor structure is installed, and specifying the three-dimensional shape of the outdoor structure; and a color specifying part 8 for collating the three-dimensional location and three-dimensional shape specified by the location and shape specifying part 6 with photographed image data acquired by a photographed image data acquiring device 3, specifying an area where the outdoor structure is reflected on the photographed image shown by the photographed image data, and specifying the color of the outdoor structure from a pixel value of the area. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a three-dimensional position where an outdoor structure (for example, a sign on a road, a guide advertisement board, an outdoor advertisement projecting on a road from a wall of a building, or a fixed object such as a hut) is installed, an outdoor structure The present invention relates to an outdoor structure measuring apparatus and an outdoor structure measuring method for measuring a three-dimensional shape and color of an object.

A GPS receiver and a laser range finder are mounted on the vehicle. While the vehicle is traveling on the road, the GPS data received by the GPS receiver and the measurement data of the laser range finder are used to detect roads and surrounding features (exist on the ground). There is a three-dimensional data acquisition device that acquires three-dimensional information and trajectory information of all objects) as electronic three-dimensional data.
In addition, a GPS receiver and a camera that captures moving images or continuous still images are mounted on the vehicle. While the vehicle is traveling on the road, the GPS data received by the GPS receiver and the video data of the camera can be used to detect roads and surroundings. There is a photographed image data acquisition device that acquires a photographed image, a photographing time, and a photographing position of a feature as electronic photographed image data.

For example, in Patent Documents 1 and 2 below, models of roads and surrounding features are obtained using the three-dimensional data acquired by the three-dimensional data acquisition device and the captured image data acquired by the captured image data acquisition device. There is disclosed a feature measuring apparatus for performing the conversion.
Therefore, according to the feature measuring apparatus, the shape and position of the outdoor feature can be specified, but the outdoor feature and the outdoor structure cannot be distinguished.
For this reason, for example, an outdoor structure such as a signboard attached to a building such as a building that is an outdoor feature is regarded as a part of the building, and the shape and position of the outdoor structure such as a signboard are independently determined. It cannot be measured.

JP 2009-76096 A (paragraph numbers [0015] to [0024], FIG. 8) JP 2009-121945 A (paragraph numbers [0005] to [0008])

  Since the conventional feature measuring apparatus is configured as described above, the shape and position of the outdoor feature can be specified, but the outdoor feature and the outdoor structure cannot be distinguished. For this reason, there existed problems, such as being unable to measure the position, shape, and color of an outdoor structure.

  This invention was made in order to solve the above problems, and aims to obtain an outdoor structure measuring apparatus and an outdoor structure measuring method capable of measuring the position, shape and color of an outdoor structure. To do.

  The outdoor structure measuring apparatus according to the present invention scans an outdoor feature in a state where it is installed on a moving body, and obtains point cloud data indicating the three-dimensional position and scanning time of the scanning point on the surface of the feature. The three-dimensional data acquisition means for acquiring the trajectory data indicating the travel position and travel time of the moving body, and capturing the outdoor feature in a state installed on the mobile body, and acquiring the position of the feature The photographed image data acquisition means for acquiring the photographed image data indicating the photographing time and the photographed image, and the point cloud data and the trajectory data acquired by the three-dimensional data acquisition means are analyzed, and the outdoor structure is extracted from the outdoor feature. Extracting and specifying the three-dimensional position where the outdoor structure is installed, specifying the three-dimensional shape of the outdoor structure, the three-dimensional position and three-dimensional specified by the position shape specifying means form The captured image data acquired by the captured image data acquisition means is collated, the region where the outdoor structure appears in the captured image indicated by the captured image data is specified, and the color of the outdoor structure is determined from the pixel value of the region. And a color specifying means for specifying the color.

  According to the present invention, an outdoor feature is scanned in a state where it is installed on a moving body, and the point cloud data indicating the three-dimensional position and scanning time of the scanning point on the surface of the feature is acquired and moved. Three-dimensional data acquisition means for acquiring trajectory data indicating the travel position and travel time of the body, and photographing the outdoor feature in a state where it is installed on the moving body, the capture position, the capture time and the capture of the feature The photographed image data acquisition means for acquiring the photographed image data indicating the image, and the point cloud data and the trajectory data acquired by the three-dimensional data acquisition means are analyzed to extract the outdoor structure from the outdoor feature, and the outdoor The position shape specifying means for specifying the three-dimensional position where the structure is installed and the three-dimensional shape of the outdoor structure, the three-dimensional position and the three-dimensional shape specified by the position shape specifying means, and the captured image data A color that identifies the area in which the outdoor structure appears in the captured image indicated by the captured image data by collating the captured image data acquired by the acquisition unit, and identifies the color of the outdoor structure from the pixel value of the area Since the specific means is provided, the three-dimensional position, the three-dimensional shape and the color of the outdoor structure can be measured.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the outdoor structure measuring device by Embodiment 1 of this invention. It is a block diagram which shows the position shape specific | specification part 6 of the outdoor structure measuring device by Embodiment 1 of this invention. It is a block diagram which shows the color specific | specification part 8 of the outdoor structure measuring device by Embodiment 1 of this invention. It is a flowchart which shows the processing content of the outdoor structure measuring device by Embodiment 1 of this invention. It is explanatory drawing which shows a mode that the three-dimensional data acquisition apparatus 2 acquires point cloud data, and the picked-up image data acquisition apparatus 3 is acquiring picked-up image data when the data acquisition vehicle 1 is drive | working the road. It is explanatory drawing which shows the roadway height measured by the roadway height measurement part 22. FIG. It is explanatory drawing which shows the sidewalk height measured by the sidewalk height measurement part. It is explanatory drawing which shows the width | variety and depth of an outdoor structure measured by the width / depth measurement part 24. FIG. It is explanatory drawing which shows the width | variety and depth of an outdoor structure measured by the width / depth measurement part 24. FIG. It is explanatory drawing which shows the upper end height and lower end height which are measured by the upper / lower end measurement part 25. FIG. It is explanatory drawing which shows the center position of the outdoor structure specified by the center measurement part 26. FIG. It is explanatory drawing which shows the picked-up image selected by the image selection part 31. FIG. It is explanatory drawing which shows the color data specified by the color specific | specification part 8. FIG. It is explanatory drawing which shows the outdoor structure measurement data output from the map mapping part. It is a block diagram which shows the outdoor structure measuring device by Embodiment 2 of this invention. It is explanatory drawing which shows the outdoor structure restriction data currently recorded on the outdoor structure restriction data recording part.

Embodiment 1 FIG.
1 is a block diagram showing an outdoor structure measuring apparatus according to Embodiment 1 of the present invention.
In FIG. 1, a data acquisition vehicle 1 is a moving body capable of traveling on, for example, a road. For example, a three-dimensional data acquisition device 2 and a captured image data acquisition device 3 are installed on a roof or the like.
The three-dimensional data acquisition device 2 is equipped with, for example, a GPS receiver or a laser range finder, and scans outdoor features (all objects existing on the ground) while being installed in the data acquisition vehicle 1. The point cloud data indicating the three-dimensional position (x1, y1, z1) of the scanning point and the scanning time t1 on the surface of the feature is acquired, and the travel position (x2, y2, z2) of the data acquisition vehicle 1 and A process of acquiring trajectory data indicating the travel time t2 is performed. The three-dimensional data acquisition device 2 constitutes a three-dimensional data acquisition unit.

The captured image data acquisition device 3 is equipped with, for example, a GPS receiver and a camera. The captured image data acquisition device 3 captures an outdoor feature in a state where the captured image data acquisition device 3 is installed in the data acquisition vehicle 1, and the shooting position (x3, y3, 3) of the feature z3), a process of acquiring captured image data indicating the captured time t3 and the captured image. The captured image data acquisition device 3 constitutes a captured image data acquisition unit.
However, if the captured image data acquisition device 3 receives GPS data from a GPS receiver mounted on the three-dimensional data acquisition device 2, the captured image data acquisition device 3 does not have a GPS receiver mounted. Also good.
Similarly, if the 3D data acquisition device 2 receives GPS data from a GPS receiver mounted on the captured image data acquisition device 3, the 3D data acquisition device 2 does not have a GPS receiver mounted. May be.

The three-dimensional data recording unit 4 is a recording medium such as a hard disk for recording the point cloud data and the trajectory data acquired by the three-dimensional data acquisition device 2.
However, the three-dimensional data recording unit 4 may be mounted on the data acquisition vehicle 1 or may be installed at a different location from the data acquisition vehicle 1.
When the data acquisition vehicle 1 is installed at a different location, the three-dimensional data recording unit 4 acquires the three-dimensional data acquisition device 2 using a communication means (not shown) (for example, a wireless communication device or a wired communication device). Collected point cloud data and trajectory data may be collected and recorded.

The captured image data recording unit 5 is a recording medium such as a hard disk for recording captured image data acquired by the captured image data acquisition device 3.
However, the captured image data recording unit 5 may be mounted on the data acquisition vehicle 1 or may be installed at a different location from the data acquisition vehicle 1.
When installed in a location different from the data acquisition vehicle 1, the captured image data recording unit 5 acquires the captured image data acquisition device 3 using a communication unit (not shown) (for example, a wireless communication device or a wired communication device). The captured image data may be collected and recorded.

  The position shape specifying unit 6 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted or a one-chip microcomputer, and analyzes the point cloud data and locus data recorded in the three-dimensional data recording unit 4. , Extract outdoor structures (for example, signs on the road, advertising billboards, outdoor advertisements protruding from the walls of buildings, fixed objects such as huts) from outdoor features, and the outdoor structures Identify the installed 3D position (for example, the center position of the outdoor structure, roadway height, sidewalk height) and the 3D shape of the outdoor structure (for example, the width, depth, top height, The process of specifying the lower edge height is performed. Note that the position shape specifying unit 6 constitutes a position shape specifying means.

The position / shape data recording unit 7 is a recording medium such as a hard disk for recording the 3D position specified by the position / shape specifying unit 6 and the position / shape data indicating the 3D shape.
The color specifying unit 8 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted, or a one-chip microcomputer, and the position / shape data recorded in the position / shape data recording unit 7 and the photographed image data recording unit. 5 is a process of collating the captured image data recorded in 5 to identify an area in which the outdoor structure appears in the captured image indicated by the captured image data, and identifying the color of the outdoor structure from the pixel value of the area To implement. The color specifying unit 8 constitutes a color specifying unit.

The color data recording unit 9 is a recording medium such as a hard disk that records color data indicating the color of the outdoor structure specified by the color specifying unit 8.
The map data DB 10 holds information relating to outdoor features (for example, information having both position information indicating the position of a feature such as a road and a house and attribute information indicating the name of the feature). It is a database where data is recorded. The map data DB 10 constitutes a map recording unit.

The map matching unit 11 is composed of, for example, a semiconductor integrated circuit on which a CPU is mounted or a one-chip microcomputer, and the position / shape data and color data recording unit 9 recorded in the position / shape data recording unit 7. A process of associating the color data recorded in the map data with the map data recorded in the map data DB 10 is performed. The map matching unit 11 constitutes a map matching unit.
The outdoor structure measurement data recording unit 12 is a recording medium such as a hard disk that records outdoor structure measurement data including position / shape data and color data associated with map data by the map matching unit 11.

FIG. 2 is a block diagram showing the position shape specifying unit 6 of the outdoor structure measuring apparatus according to Embodiment 1 of the present invention.
In FIG. 2, the straight section dividing unit 21 divides the trajectory data recorded in the three-dimensional data recording unit 4 into a plurality of straight sections (sections where the deviation from the set line segment is shorter than a predetermined threshold), A process of outputting trajectory data of each straight section is performed.
The road height measuring unit 22 includes point cloud data in the straight section to be processed (point data of trajectory data of each straight section divided by the straight section dividing unit 21) among the point group data recorded in the three-dimensional data recording unit 4. (Point cloud data corresponding to the trajectory data in the straight section to be processed), the position where the altitude is minimum (the road on which the vehicle passes) in the straight section is specified, and the altitude at the minimum position is determined. The process of outputting as the roadway height a is performed.

The sidewalk height measuring unit 23 refers to the point cloud data in the straight section to be processed among the point cloud data recorded in the three-dimensional data recording unit 4, and the altitude is at a portion other than the road on which the vehicle passes. The minimum position (the sidewalk through which humans pass) is specified, and the process of outputting the altitude at the minimum position as the sidewalk height b is performed.
The width / depth measurement unit 24 refers to the point cloud data in the straight section to be processed among the point cloud data recorded in the three-dimensional data recording unit 4, and the distance to other points is a minute distance (Δx , Δy) to search for a set of points (hereinafter, the set of points is referred to as a “block”), and among at least one block, the width of the block constituting the outdoor structure (same as the road width) Direction (the length of the horizontal normal direction of the trajectory data)) is specified as the width c of the outdoor structure, and the depth of the block (the length in the straight line direction of the trajectory data) is defined as the depth d of the outdoor structure. Perform the specified process.

The upper and lower end measuring unit 25 specifies the maximum value of the altitude of the block constituting the outdoor structure searched by the width / depth measuring unit 24, and the roadway height specified by the roadway height measuring unit 22 from the maximum value of the altitude. The process of calculating the upper end height e of the outdoor structure by subtracting a, specifying the minimum elevation value of the block, and subtracting the roadway height a from the minimum elevation value to calculate the lower end height f of the outdoor structure To implement.
The center measuring unit 26 performs processing for specifying the center of the block constituting the outdoor structure searched by the width / depth measuring unit 24 as the center position (cx, cy, cz) of the outdoor structure.

FIG. 3 is a block diagram showing the color specifying unit 8 of the outdoor structure measuring apparatus according to Embodiment 1 of the present invention.
In FIG. 3, the image selection unit 31 refers to the position / shape data recorded by the position / shape data recording unit 7, and at each photographing time indicated by the photographed image data recorded in the photographed image data recording unit 5. A region in which the outdoor structure is reflected in the captured image is specified, and a process of selecting a captured image in which the region in which the outdoor structure is reflected is the largest from the captured images at the respective shooting times.
The structure cutout unit 32 performs a process of cutting out an area where the outdoor structure is shown from the captured image selected by the image selection unit 31.

  The pixel measuring unit 33 identifies the hue of the pixels constituting the area cut out by the structure cutout unit 32, and records the color name of the small area of the same hue in the area as color data in the color data recording unit 9. In addition, for each small region of the same hue, the positions of the left end u1, the right end u2, the upper end v1, and the lower end v2 of the small region are specified, and the positions of the left end u1, the right end u2, the upper end v1, and the lower end v2 of the small region are determined. Processing for recording the color data in the color data recording unit 9 is performed.

In FIG. 1, each of the three-dimensional data acquisition device 2, the captured image data acquisition device 3, the position shape specification unit 6, the color specification unit 8, and the map matching unit 11, which are components of the outdoor structure measurement device, is dedicated hardware. However, when the outdoor structure measuring device is configured by a computer, the three-dimensional data acquisition device 2, the captured image data acquisition device 3, the position shape specification unit 6, and the color specification unit 8 and the processing contents of the map matching unit 11 may be stored in the memory of a computer, and the CPU of the computer may execute the program stored in the memory.
FIG. 4 is a flowchart showing the processing contents of the outdoor structure measuring apparatus according to Embodiment 1 of the present invention.

Next, the operation will be described.
The data acquisition vehicle 1 travels in the vicinity of a road where the three-dimensional data acquisition device 2 and the captured image data acquisition device 3 are installed on, for example, a roof and the outdoor structure to be measured is installed.
FIG. 5 is an explanatory diagram illustrating a state in which the three-dimensional data acquisition device 2 acquires point cloud data and the captured image data acquisition device 3 acquires captured image data when the data acquisition vehicle 1 is traveling on a road. It is.

As shown in FIG. 5A, the three-dimensional data acquisition device 2 installed in the data acquisition vehicle 1 uses, for example, a laser range finder when the data acquisition vehicle 1 is traveling. An object (outdoor features are all objects existing on the ground, including outdoor structures to be measured).
That is, the three-dimensional data acquisition device 2 uses a laser range finder to irradiate the laser beam in a fan shape at regular time intervals and receive the laser beam reflected on the surface of the outdoor feature, thereby A three-dimensional position (x1, y1, z1) of a scanning point (a point irradiated with laser light) on the surface is acquired (step ST1). The three-dimensional position x1 corresponds to the longitude of the scanning point, y1 corresponds to the latitude of the scanning point, and z1 corresponds to the elevation of the scanning point.
However, since there is a limit (for example, about 15 m) in the distance that the laser beam reaches, roads and features located at a position that is more than the limit distance from the three-dimensional data acquisition device 2 installed in the data acquisition vehicle 1 The three-dimensional position (x1, y1, z1) is not acquired.

Further, the three-dimensional data acquisition device 2 monitors UTC (Coordinated Universal Time) time, which is a universally coordinated time included in GPS data received by an on-board GPS receiver, from the laser range finder. The time when the light is emitted is acquired as the scanning time t1 (step ST1).
When the three-dimensional data acquisition device 2 acquires the three-dimensional position (x1, y1, z1) of the scanning point on the surface of the feature and the scanning time t1, as shown in FIG. 5B, the three-dimensional data of the scanning point is obtained. The position (x1, y1, z1) and the scanning time t1 are recorded in the three-dimensional data recording unit 4 as point cloud data.

Furthermore, the three-dimensional data acquisition device 2 calculates the travel position (x2, y2, z2) of the data acquisition vehicle 1 from the GPS data received by the GPS receiver (step ST2).
Here, it is assumed that the travel position (x2, y2, z2) of the data acquisition vehicle 1 is calculated from the GPS data received by the GPS receiver, but the three-dimensional data acquisition device 2 is not limited to the GPS receiver. In addition, if an inertial navigation device, an integrated odometer, or the like is installed, the traveling position (x2, y2, z2) can be calculated more precisely.
The three-dimensional data acquisition device 2 monitors the UTC time included in the GPS data received by the GPS receiver, and calculates the calculation time of the travel position (x2, y2, z2) of the data acquisition vehicle 1. Obtained as travel time t2 (step ST2).
When the three-dimensional data acquisition device 2 acquires the travel position (x2, y2, z2) and the travel time t2 of the data acquisition vehicle 1, as shown in FIG. 5B, the travel position (x2, y2, z2). And the traveling time t2 are recorded in the three-dimensional data recording unit 4 as trajectory data.

As shown in FIG. 5A, the captured image data acquisition device 3 installed in the data acquisition vehicle 1 uses, for example, a camera to display outdoor features when the data acquisition vehicle 1 is traveling. A picture is taken (step ST3).
Since the camera captures images with the data acquisition vehicle 1 facing the front of the road, the image captured by the camera includes roads and features around the road (in the example of FIG. Outdoor structure) is reflected.
Since the captured image data acquisition device 3 is fixed to the data acquisition vehicle 1, the imaging range of the camera is a fixed range in a fixed direction when viewed from the shooting position.
Note that the image data indicating the captured image of the camera is data indicating a frame of a moving image or a set of still images, and is managed by a frame number or a still image number in the file.

The captured image data acquisition device 3 is received by a GPS receiver mounted on itself (or a GPS receiver mounted on the three-dimensional data acquisition device 2 when the GPS receiver is not mounted). The GPS data is monitored to acquire the camera photographing time t3, and the position of the data acquisition vehicle 1 at the camera photographing time t3 is calculated from the GPS data as the feature photographing position (x3, y3, z3). (Step ST4).
When the captured image data acquisition device 3 acquires the shooting position (x3, y3, z3) of the feature and the shooting time t3, as shown in FIG. 5C, the shooting position (x3, y3, z3) of the feature. And the photographing time t3 are recorded in the photographed image data recording unit 5 as photographed image data, and image data indicating the photographed image of the camera is recorded in the photographed image data recording unit 5.
Further, as shown in FIG. 5C, the captured image data acquisition device 3 adds the frame number or still image number in the image data file indicating the captured image of the camera as pointer data to the captured image data.
Note that the photographing position (x3, y3, z3) of the feature is the same coordinate system as the traveling position (x2, y2, z2) in the trajectory data.

When the 3D data acquisition device 2 records 3D data (point cloud data, trajectory data) in the 3D data recording unit 4, the position shape specifying unit 6 stores the 3D data recorded in the 3D data recording unit 4. To extract the outdoor structure from the outdoor features, identify the three-dimensional position where the outdoor structure is installed (for example, the center position of the outdoor structure, roadway height, sidewalk height) The three-dimensional shape of the outdoor structure (for example, the width, depth, upper end height, and lower end height of the outdoor structure) is specified (step ST5).
The three-dimensional position specified by the position / shape specifying unit 6 and the position / shape data indicating the three-dimensional shape are recorded in the position / shape data recording unit 7.
Hereinafter, the processing content of the position shape specific | specification part 6 is demonstrated concretely.

The rectilinear section dividing unit 21 of the position shape specifying unit 6 converts the trajectory data recorded in the three-dimensional data recording unit 4 into a plurality of rectilinear sections (sections in which the deviation from the set line segment is shorter than a predetermined threshold). The track data of each straight section is output to the roadway height measuring unit 22.
That is, the straight section dividing unit 21 outputs, for each straight section, the three-dimensional position (xs, ys, zs) of the start point of the straight section and the travel time t2 of the start point as the start time ts, and the straight section The three-dimensional position (xe, ye, ze) of the end point and the travel time t2 of the end point are output as the end point time te.

The straight section is divided by connecting the three-dimensional position (xs, ys, zs) of the start point and the three-dimensional position (xe, ye, ze) of the end point with a line segment, and the distance of the line segment is equal to or less than the distance threshold Dth. The trajectory data is divided so that
That is, by setting the first tentative end point time te _pro relative start point in the trajectory data, to set a position in the locus data according to the temporary end point time te _pro end point.
Then, the distance L of the line segment connecting the start point and the end point is measured, and if the distance L of the line segment does not exceed the distance threshold value Dth, the temporary end point time te _pro is gradually delayed to determine the distance of the line segment. L is extended, and when the distance L of the line reaches the distance threshold Dth, the straight section is terminated and the end point is set as the start point of the next straight section.

Thereafter, the same processing is repeated to divide the trajectory data into a plurality of straight sections.
The roadway height measuring unit 22, the sidewalk height measuring unit 23, the width / depth measuring unit 24, the upper and lower end measuring unit 25, and the center measuring unit 26 constituting the position shape specifying unit 6 are divided by the straight section dividing unit 21. The processing described later is performed in units of the straight section that has been performed.
In the following description, the concept of “right side” and “left side” of the road is used, which corresponds to the right side and the left side of the road when the data acquisition vehicle 1 travels on the road. The direction of the line segment extending from the start point to the end point is 0 degrees, and the clockwise direction from 0 degrees to 180 degrees is the “right side” of the road, and 180 degrees to 360 degrees is the “left side” of the road.

The roadway height measuring unit 22 of the position shape specifying unit 6 inputs the point cloud data and the trajectory data recorded in the three-dimensional data recording unit 4 for each straight section divided by the straight section dividing unit 21.
Here, FIG. 6 is an explanatory diagram showing the roadway height measured by the roadway height measuring unit 22.
6A is a plan view of the point cloud data in the straight section to be processed as viewed from above, and FIG. 6B is a point cloud when the direction from the start point to the end point of the straight section to be processed is viewed. It is an elevation view showing data.
In the elevation view (B), the left and right central portions are roads (roadways) on which the data acquisition vehicle 1 travels, and there are building walls and road structures on the right and left sides of the road.

When the road height measuring unit 22 inputs point cloud data and trajectory data for each straight section divided by the straight section dividing unit 21, the road height measuring unit 22 refers to the point cloud data (x1, y1, z1) in the straight section to be processed. Then, the position where the altitude z1 is minimum is specified.
The roadway height measuring unit 22 recognizes that the position where the altitude z1 is minimum in the straight section to be processed is the road on which the data acquisition vehicle 1 has traveled, and outputs the road altitude z1 as the roadway height a.
However, if the road is a slope, the road height a changes as the data acquisition vehicle 1 travels. Therefore, for example, the road height a remeasures the road height a every time the trajectory data advances by 1 m. In this way, measurement errors are reduced.

The sidewalk height measuring unit 23 of the position shape specifying unit 6 inputs the point cloud data and the trajectory data recorded in the three-dimensional data recording unit 4 for each of the straight sections divided by the straight section dividing unit 21, and the roadway The roadway height a output from the height measuring unit 22 is input.
Here, FIG. 7 is an explanatory diagram showing the sidewalk height measured by the sidewalk height measuring unit 23.
7A is a plan view of the point cloud data in the straight section to be processed as viewed from above, and FIG. 7B is a point cloud when the direction from the start point to the end point of the straight section to be processed is viewed. It is an elevation view showing data.
In the elevation view (B), the left and right central portions are roads (roadways) on which the data acquisition vehicle 1 has traveled, and there are building walls and road structures on the right and left sides of the road. Then, as will be described later, the altitude of the sidewalk that is higher than the roadway is measured.

When the sidewalk height measuring unit 23 inputs the point cloud data and the trajectory data for each of the straight sections divided by the straight section dividing unit 21, the altitude higher than the road height a output from the road height measuring unit 22 by a predetermined value M. Is set to an altitude threshold Ath (for example, Ath = a + M).
When the altitude threshold value Ath is set, the sidewalk height measuring unit 23 compares the altitude z1 of the point cloud data in the straight section to be processed with the altitude threshold Ath, and separates the point cloud data in the straight section to be processed.

That is, the sidewalk height measurement unit 23 separates the point cloud data in the straight section where the altitude z1 is higher than the altitude threshold Ath and the point group data in the straight section where the altitude z1 is lower than the altitude threshold Ath.
However, when the predetermined value M is set to a minute value (for example, 10 mm) and the point cloud data in the straight section is separated, the elevation of the point cloud data with the elevation z1 higher than the elevation threshold Ath is due to the unevenness of the road itself. Since the point cloud data of the roadway part is included, a value larger than the unevenness of the road and lower than the height of the curb at the boundary between the roadway and the sidewalk is set to a predetermined value M (for example, about 20 mm) To do.
As described above, when the point cloud data in the straight section where the altitude z1 is higher than the altitude threshold Ath and the point cloud data in the straight section where the altitude z1 is lower than the altitude threshold Ath are separated, as shown in FIG. Point cloud data in a straight-ahead section where is higher than the altitude threshold Ath is separated into left and right.

The sidewalk height measuring unit 23 separates the point group data in the straight section where the altitude z1 is higher than the altitude threshold Ath and the point group data in the straight section where the altitude z1 is lower than the altitude threshold Ath, and the altitude z1 is the altitude threshold. If the point cloud data in the straight-ahead section lower than Ath is a certain width (for example, 2 m) or more, it is determined that the portion having the certain width or more is a road.
When the sidewalk height measuring unit 23 recognizes the portion of the roadway, the sidewalk height measuring unit 23 identifies the position where the altitude z1 is the smallest in the portions on both sides of the roadway (point cloud data in the straight section where the altitude z1 is higher than the altitude threshold Ath) Is output as a sidewalk height b.
On roads where the roadway and the sidewalk are not separated, it is rare that the point cloud data in the straight section where the altitude z1 is lower than the altitude threshold Ath exceeds a certain width (for example, 2 m). It is determined that the road height a matches the road height a, and a sidewalk height b equal to the road height a is output.

The width / depth measurement unit 24 of the position shape specifying unit 6 inputs point cloud data and trajectory data recorded in the three-dimensional data recording unit 4 for each of the straight sections divided by the straight section dividing unit 21. The sidewalk height b output from the sidewalk height measuring unit 23 is input.
FIG. 8 is an explanatory diagram showing the width and depth of an outdoor structure measured by the width / depth measurement unit 24.
8A is a plan view of the point cloud data in the straight section to be processed as viewed from above, and FIG. 8B is a point cloud when the direction from the start point to the end point of the straight section to be processed is viewed. It is an elevation view showing data.
The width c of the outdoor structure measured by the width / depth measurement unit 24 is the maximum extension length in the same direction as the road width of the outdoor structure (the horizontal normal direction of the trajectory data).
The depth d of the outdoor structure measured by the width / depth measurement unit 24 is the length of the maximum extension in the same direction as the road extension of the outdoor structure (the same direction as the straight direction of the trajectory data).
Here, the description will be made assuming that the outdoor structure is attached to the wall of the building and protrudes in the road direction from the wall.

The width / depth measurement unit 24, when the point cloud data and the trajectory data are input for each straight section divided by the straight section dividing unit 21, is a height threshold sufficiently higher than the sidewalk height b output from the sidewalk height measurement unit 23. Hth (for example, 1 m) is set.
When the height / threshold measurement unit 24 sets the height threshold Hth, the altitude z1 of the point cloud data in the straight section to be processed is compared with the height threshold Hth, and the point cloud data in the straight section to be processed is obtained. Separate up and down.
Hereinafter, the width / depth measurement unit 24 performs processing separately on the right side and the left side of the trajectory data to measure the width c and the depth d of the outdoor structure.

When the width / depth measurement unit 24 separates the point cloud data in the straight section to be processed from the top and the bottom, it ignores the altitude z1 of the point cloud data in the straight section where the altitude z1 is higher than the height threshold Hth, and the point The group data is regarded as a collection of data of coordinates (x1, y1) (so as to be regarded as a set of two-dimensional points as seen in the plan view (A)).
Then, the width / depth measurement unit 24 searches for a set of points whose distance from other points is less than a minute distance (Δx, Δy) in the set of two-dimensional points. A set of points less than a minute distance (Δx, Δy) is an area where a plurality of points are densely packed. Hereinafter, this set is referred to as a “block”.
For example, Δx = Δy = 30 mm is set as the minute distance (Δx, Δy).

When the width / depth measurement unit 24 searches for at least one block, for each block, the point cloud data (x1, y1) in the block and the travel position (x2, y2) of the data acquisition vehicle 1 indicated by the trajectory data (The point cloud data (x1, y1) and the travel position (x2, y2) at the same time are compared) in the horizontal direction (right side, left side) from the travel position (x2, y2) of the data acquisition vehicle 1 The distance to the existing block is measured at regular intervals, and the distance is defined as the estimated wall value w.
For example, every time the travel position (x2, y2) advances by 10 mm, the point position data (x1, y1) at the same time and the travel position (x2, y2) are compared, and the travel position (x2, y2) of the data acquisition vehicle 1 is compared. ) To the block, and the distance is set as the estimated wall value w.
When the width / depth measurement unit 24 measures the estimated wall surface value w at regular intervals, the estimated wall surface value w and the wall surface threshold value Wth (for example, 2 m) are compared, and the estimated wall surface value w exceeds the wall surface threshold value Wth. Measurement points (wall surface estimated value w> wall surface threshold Wth) are specified.

The width / depth measurement unit 24 has a section in which measurement points where the wall surface estimated value w exceeds the wall surface threshold value Wth continue to exceed the wall surface extension threshold WEth (for example, 1 m) when viewed from the start point side of the straight section. If (the section where the measurement points where the wall surface estimated value w exceeds the wall surface threshold value Wth is continuous> wall surface extension threshold WEth), it is determined that the block constitutes a “wall”.
The width / depth measurement unit 24 determines the structure width threshold value SWth (for example, 0. 0) from the estimated wall surface value w of the measurement point immediately before exceeding the wall surface threshold value Wth in the block determined to constitute the “wall”. 5m) If there is a measurement point of the estimated wall value w that is smaller than 5 m, it is determined that an outdoor structure is attached to the wall.

When the width / depth measurement unit 24 determines that the outdoor structure is attached to the wall, the width / depth measurement unit 24 calculates a difference between the wall surface estimated value w exceeding the wall surface threshold Wth and the minimum wall surface estimated value w in the block. Then, the difference is output as the width c of the outdoor structure.
Further, when the width / depth measurement unit 24 detects a measurement point of the wall surface estimated value w that is smaller than the wall surface estimated value w of the measurement point immediately before exceeding the wall surface threshold Wth by a structure width threshold SWth or less, the structure width threshold value The length of the section in which the measurement points of the wall surface estimated value w smaller than SWth are continuous (length in the straight direction of the trajectory data) is output as the depth d of the outdoor structure.

Here, the outdoor structure is shown attached to the wall of the building. However, when the outdoor structure is installed away from the building wall, the width c of the outdoor structure is set as follows. Depth d is specified.
FIG. 9 is an explanatory diagram showing the width and depth of an outdoor structure measured by the width / depth measurement unit 24.
In FIG. 9, (A) is a plan view of the point cloud data in the straight section to be processed as viewed from above.

When the outdoor structure is installed away from the wall of the building, there are blocks that constitute the wall and blocks that do not constitute the wall.
At this time, when there is a block that does not constitute a wall before the block that constitutes the wall as viewed from the travel position (x2, y2) indicated by the trajectory data, the block that does not constitute the wall Is judged to constitute an outdoor structure.
The width / depth measurement unit 24 calculates the difference between the distance of the point farthest from the travel position (x2, y2) indicated by the trajectory data and the distance of the closest point in the block constituting the outdoor structure. Then, the difference is output as the width c of the outdoor structure.
In addition, the width / depth measuring unit 24 outputs the length of the trajectory data in the straight traveling direction as the depth d of the outdoor structure in the blocks constituting the outdoor structure.

The upper and lower end measuring unit 25 of the position shape specifying unit 6 inputs the point cloud data and the trajectory data recorded in the three-dimensional data recording unit 4 for each of the straight sections divided by the straight section dividing unit 21, and the roadway The roadway height a output from the height measuring unit 22 is input.
Here, FIG. 10 is an explanatory diagram showing the upper end height and the lower end height measured by the upper and lower end measuring unit 25.
10A is a plan view of the point cloud data in the straight section to be processed as viewed from above, and FIG. 10B is a point cloud when the direction from the start point to the end point of the straight section to be processed is viewed. It is an elevation view showing data.
The upper end height e measured by the upper and lower end measuring unit 25 is a specific height from the roadway at the top of the outdoor structure (difference between the altitude at the top and the roadway a).
The lower end height f measured by the upper and lower end measuring unit 25 is a specific height from the roadway at the lowest part of the outdoor structure (difference between the altitude at the lowest part and the roadway height a).
However, the portion below the outdoor structure and having a width less than the minimum structure width (for example, 0.2 m) is regarded as a column and is not included in the outdoor structure.

The upper and lower end measuring unit 25 is the altitude z1 of the point cloud data in the block constituting the outdoor structure searched by the width / depth measuring unit 24 (the point cloud in the straight section where the altitude z1 is higher than the height threshold Hth). With reference to the altitude z1) of the data, the maximum value of the altitude z1 is specified in the range of the width c of the outdoor structure from the point closest to the traveling position (x2, y2) indicated by the trajectory data.
When the maximum value of the altitude z1 is specified, the upper and lower end measuring unit 25 calculates the upper end height e of the outdoor structure by subtracting the roadway height a from the maximum value of the altitude z1.

Further, the upper and lower end measuring unit 25 refers to the altitude z1 of the point cloud data in the block constituting the outdoor structure searched by the width / depth measuring unit 24, and the traveling position (x2, The minimum value of the altitude z1 is specified in the range of the width c of the outdoor structure from the point closest to y2).
When the minimum value of the altitude z1 is specified, the upper and lower end measuring unit 25 calculates the lower end height f of the outdoor structure by subtracting the roadway height a from the minimum value of the altitude z1.

However, when the minimum value of the altitude z1 coincides with the height threshold value Hth, the outdoor structure exists at a position below the height threshold value Hth. The lower end height f of the structure is calculated.
Even when the outdoor structure is installed away from the building wall, the upper end height e and the lower end height f of the outdoor structure are calculated in the same manner. However, as for the lower end height f, a portion whose width is less than the minimum structure width (for example, 0.2 m) from the point closest to the travel position (x2, y2) indicated by the trajectory data to the range of the width c of the outdoor structure. If there is, measure by ignoring that part.

When the center / measurement unit 26 of the position / shape specifying unit 6 searches for a block constituting the outdoor structure by the width / depth measurement unit 24, the center of the block constituting the outdoor structure is set to the center position of the outdoor structure. It is specified as (cx, cy, cz).
Here, FIG. 11 is an explanatory view showing the center position (cx, cy, cz) of the outdoor structure specified by the center measuring unit 26.
In FIG. 11, cx is the longitude of the center position of the outdoor structure, cy is the latitude of the center position of the outdoor structure, and cz is the elevation of the center position of the outdoor structure.

  Since the center measurement unit 26 has already measured the roadway height a, the sidewalk height b, the width c, the depth d, the upper end height e, and the lower end height f of the outdoor structure, the width when the road is viewed in the traveling direction. The center position of c (see FIG. 11 (a)), the center position of the depth d (see FIG. 11 (b)) when the road is viewed in the lateral direction, and the midpoint between the upper end height e and the lower end height f From the position (see FIG. 11A), the center position (cx, cy, cz) of the outdoor structure is calculated.

When the position / shape specifying unit 6 records the position / shape data in the position / shape data recording unit 7, the color specifying unit 8 records the position / shape data recorded in the position / shape data recording unit 7 and the captured image data recording unit. 5, the photographed image data recorded in the photographed image data is collated, an area where the outdoor structure is reflected in the photographed image indicated by the photographed image data is specified, and the color of the outdoor structure is specified from the pixel value of the area ( Step ST6).
Color data indicating the color specified by the color specifying unit 8 is recorded in the color data recording unit 9.
Hereinafter, the processing content of the color identification part 8 is demonstrated concretely.

The image selecting unit 31 of the color specifying unit 8 refers to the position / shape data recorded by the position / shape data recording unit 7, and displays each photographic image indicated by the photographic image data recorded in the photographic image data recording unit 5. An area in which the outdoor structure is reflected in the captured image at time t3 is specified, and a captured image having the largest area in which the outdoor structure is reflected is selected from the captured images at each imaging time t3.
FIG. 12 is an explanatory diagram showing a captured image selected by the image selection unit 31.
Hereinafter, the processing content of the image selection part 31 is demonstrated concretely.

The captured image of the camera indicated by the captured image data has pixels on the screen coordinates (u, v) on a two-dimensional plane, and each pixel has pixel values of a red component r, a green component g, and a blue component b of the three primary colors of light. (R, g, b) is held.
Moreover, since the captured image of the camera is sequentially captured when the data acquisition vehicle 1 is traveling on the road and the imaging position is determined at each imaging time t3, the data acquisition vehicle determined from the trajectory data. The shooting range of the camera is determined from the traveling direction of 1 and the lens characteristics of the camera.
Therefore, by treating the screen coordinates (u, v) of the captured image of the camera with the homogeneous three-dimensional coordinates (u, v, 1), the position (x, y, z) in the three-dimensional space is represented by the screen coordinates (u , V).
Accordingly, for example, the center position (cx, cy, cz) or the like of the outdoor structure included in the position / shape data is represented by the screen coordinates (u, v), so that the outdoor structure exists. It is possible to grasp the position on the image.

Therefore, the image selection unit 31 displays the center position (cx, cy, cz) and the like of the outdoor structure specified in the straight section corresponding to the shooting time t3 for each camera shooting time t3. ).
The image selection unit 31 determines whether or not all of the outdoor structures are included in the captured image when the outdoor structure represented by the screen coordinates (u, v) is viewed in front of the vehicle traveling direction. If the entire outdoor structure is included in the captured image, the area of the outdoor structure that occupies the captured image is calculated.
When the image selection unit 31 calculates the area of the outdoor structure that occupies the photographed image for each photographing time t3 of the camera (for each outdoor structure specified by the straight section corresponding to the photographing time t3), Compare the areas to identify the largest area.
The image selection unit 31 selects a photographed image in which an outdoor structure having the largest area is shown from among a plurality of photographed images at the photographing time t3.

  When the image selection unit 31 selects a captured image, the structure cutout unit 32 of the color specifying unit 8 cuts out an area where the outdoor structure is reflected from the captured image (image of screen coordinates (u, v)). As shown in FIG. 13B, the coordinates of the entire left end and the entire right end on the u-axis and the coordinates of the entire upper end and the entire lower end on the v-axis are the left end in the entire column of color data shown in FIG. Stored in u1, right end u2, upper end v1, and lower end v2.

As described above, the pixels constituting the photographed image of the camera hold pixel values (r, g, b). When each component is 6 bits, for example, 262144 colors are distinguished. The number of colors named in life is small. For example, in the Munsell color chart, the combination of hue, brightness, and saturation is about 100 colors.
Therefore, it is assumed that correspondence data of color names and pixel values (r, g, b) is set in the pixel measuring unit 33 in advance.
In the example of FIG. 13A, color P and color Q are set as color names.

The pixel measuring unit 33 of the color specifying unit 8 specifies the pixel values (r, g, b) of the pixels constituting the region when the region clipping the outdoor structure is cut out by the structure cutting unit 32. Then, referring to the pixel values (r, g, b) of the pixels constituting the area and the corresponding data set in advance, the color name of each pixel is specified.
For example, if the color names set in advance are two colors, color P and color Q, the pixel measuring unit 33 collects, for example, pixels of the color P in the area where the outdoor structure is reflected. And the small area where the pixels of the color Q are gathered.

When the pixel measuring unit 33 specifies a small area where the color P pixels are gathered and a small area where the color Q pixels are gathered, as shown in FIG. 13B, the pixels of the color P are gathered. The coordinates of the left end and the right end on the u-axis of the small region and the coordinates of the upper end and the lower end on the v-axis are the left end u1, right end u2, upper end v1, and lower end v2 in the color P column of the color data shown in FIG. To store.
Further, the left end and right end coordinates on the u-axis and the upper and lower end coordinates on the v-axis of the small area where the pixels of the color Q are gathered are the left end in the color Q column of the color data shown in FIG. Stored in u1, right end u2, upper end v1, and lower end v2.
The pixel measuring unit 33 calculates the area ratio of the small area where the pixels of the color P are gathered with respect to the area where the outdoor structure is reflected, and stores the area ratio in the area ratio in the color P column of the color data.
Further, the pixel measuring unit 33 calculates the area ratio of the small area where the pixels of the color Q are gathered with respect to the area where the outdoor structure is reflected, and stores the area ratio in the area ratio in the color Q column of the color data. To do.

The map matching unit 11 records the position / shape data when the position / shape specifying unit 6 records the position / shape data in the position / shape data recording unit 7 and the color specifying unit 8 records the color data in the color data recording unit 9. The position / shape data recorded in the unit 7 is associated with the map data recorded in the map data DB 10, and the color data recorded in the color data recording unit 9 is converted into the map data recorded in the map data DB 10. The association process is performed (step ST7).
Outdoor structure measurement data including position / shape data and color data associated with map data by the map matching unit 11 is recorded in the outdoor structure measurement data recording unit 12.
Hereinafter, the processing content of the map matching part 11 is demonstrated concretely.

FIG. 14 is an explanatory diagram showing outdoor structure measurement data output from the map mapping unit 11.
The map data recorded in the map data DB 10 includes, for example, the road name of the road and the coordinates of the start point and end point of the center line of the road (x is longitude and y is latitude) for each road intersection or corner. keeping.
In the map data, the road from the start point coordinates (start point x, start point y) to the end point coordinates (end point x, end point y) is called a road vector, and the outdoor structure is distinguished by the structure ID.

The map matching unit 11 refers to the position / shape data recorded in the position / shape data recording unit 7, confirms the center position (cx, cy, cz) of the outdoor structure, and the center position (cx, The road vector on the map data closest to cy, cz) is searched.
The map matching unit 11 stores the road name of the road vector closest to the center position (cx, cy, cz) of the outdoor structure in the “road name” field of the outdoor structure measurement data.
Further, the map matching unit 11 refers to the map data and confirms whether the outdoor structure having the three-dimensional position and the three-dimensional shape specified by the position shape specifying unit 6 is present on the left or right side of the road vector. Then, the confirmation result is stored in the “Left / Right” column of the outdoor structure measurement data.
However, “left and right of the road” does not always coincide with the left and right of the trajectory data.

The map matching unit 11 transfers the position / shape data recorded in the position / shape data recording unit 7 to the “position / shape information” column of the outdoor structure measurement data.
The map matching unit 11 stores the address in the file in which the color data is recorded in the “color pointer” field of the outdoor structure measurement data for the color data recorded in the color data recording unit 9. The address in the file in which the image data indicating the photographed image selected by the image selection unit 31 is recorded is stored in the “image pointer” field of the outdoor structure measurement data.

  As is apparent from the above, according to the first embodiment, the outdoor feature is scanned while being installed in the data acquisition vehicle 1, and the three-dimensional position and scan of the scanning point on the surface of the feature are scanned. While acquiring the point cloud data indicating the time, the three-dimensional data acquisition device 2 for acquiring the trajectory data indicating the travel position and the travel time of the data acquisition vehicle 1, A photographed image data acquisition device 3 that captures an object and acquires photographed image data indicating the photographing position, photographing time, and photographed image of the feature, and point cloud data and trajectory data obtained by the three-dimensional data acquisition device 2 The position shape specifying unit 6 that extracts the outdoor structure from the outdoor features, specifies the three-dimensional position where the outdoor structure is installed, and specifies the three-dimensional shape of the outdoor structure; , Position type A region in which the outdoor structure is reflected in the captured image indicated by the captured image data by comparing the 3D position and the 3D shape specified by the specifying unit 6 with the captured image data acquired by the captured image data acquisition device 3 And the color specifying unit 8 for specifying the color of the outdoor structure from the pixel value of the area is provided, so that the three-dimensional position, three-dimensional shape and color of the outdoor structure can be measured. There is an effect.

  According to the first embodiment, the three-dimensional position and the three-dimensional shape specified by the position / shape specifying unit 6 and the color specified by the color specifying unit 8 are associated with the map data recorded in the map data DB 10. Since it comprised so that the map matching part 11 might be provided, there exists an effect by which the outdoor structure measurement data containing the three-dimensional position linked | related with map data, a three-dimensional shape, and a color are obtained.

  In the first embodiment, the map data holding the road position coordinates in the vector format is recorded in the map data DB 10. However, the position coordinates of the boundaries of the blocks surrounded by the roads are represented by vectors. In some cases, it is held in a format, and in some cases, the center position coordinates of a building in a block are held in a vector format. In such cases, map data is handled in the same way, and the outdoor structure measurement data includes the block names of outdoor structures and the relative positions in the blocks, as well as the names of nearby buildings and relative positions to the buildings. Is possible.

In the first embodiment, the outdoor structure is shown on the right side or the left side of the road. However, for example, if the outdoor structure is a pedestrian bridge or a railroad guard, the outdoor structure is a true road. In the elevation of the point cloud data, the point cloud data may also exist on the trajectory data.
In this case, if the position shape specifying unit 6 uses the height threshold higher than the height of the data acquisition vehicle 1 to separate the point cloud data up and down, the point shape data immediately above the data acquisition vehicle 1 is extracted. The three-dimensional position and the three-dimensional shape of the outdoor structure can be specified by the same processing as in the first embodiment.

In the first embodiment, the color data is included in the outdoor structure measurement data. However, depending on the purpose of measurement, only the position / shape data is necessary, and the color data may not be necessary.
In such a case, the pixel measuring unit 33 of the color specifying unit 8 is omitted, and only the image selecting unit 31 and the structure cutout unit 32 of the color specifying unit 8 are operated and selected by the image selecting unit 31. The address in the file in which the image data indicating the photographed image is recorded may be stored in the “image pointer” field of the outdoor structure measurement data.

In the first embodiment, the three-dimensional data acquisition device 2 and the captured image data acquisition device 3 installed in the data acquisition vehicle 1 are shown to perform data acquisition processing at the same time. When only the three-dimensional data acquisition device 2 performs the three-dimensional data acquisition process and the data acquisition vehicle 1 travels separately (or when the user moves while holding the captured image data acquisition device 3), The image data acquisition device 3 may perform acquisition processing of captured image data.
However, in this case, since the shooting range of the camera mounted on the captured image data acquisition device 3 cannot be obtained from the trajectory data, the subject of the subject by the lens of the camera mounted on the captured image data acquisition device 3 is separately provided. A three-dimensional gyro apparatus that measures the center direction in three dimensions is provided, and the image selection unit 31 selects a captured image including the center direction of the subject.

Embodiment 2. FIG.
FIG. 15 is a block diagram showing an outdoor structure measuring apparatus according to Embodiment 2 of the present invention. In the figure, the same reference numerals as those in FIG.
The outdoor structure restriction data recording unit 13 sets, for example, the outdoor structure position, shape, and color restriction information (hereinafter referred to as “outdoor structure restriction data”) set according to the ordinance of the local government. For example, a hard disk or the like.

The measurement result determination unit 14 is composed of, for example, a semiconductor integrated circuit mounted with a CPU or a one-chip microcomputer, and refers to the outdoor structure restriction data recorded in the outdoor structure restriction data recording unit 13. The three-dimensional position, three-dimensional shape and color of the outdoor structure, which is the measurement result of the outdoor structure measuring device, is determined whether or not the installation standard is satisfied (the three-dimensional position, three-dimensional shape and To determine whether the color is within the limit).
The outdoor structure restriction data recording unit 13 and the measurement result determination unit 14 constitute a measurement result determination unit.
The determination data recording unit 15 is a recording medium such as a hard disk that records determination data indicating the determination result of the measurement result determination unit 14.

FIG. 16 is an explanatory diagram showing the outdoor structure restriction data recorded in the outdoor structure restriction data recording unit 13.
In the example of FIG. 16, position / shape restriction data and color restriction data are recorded as outdoor structure restriction data.
Items of position / shape restriction data include the maximum width MC of the outdoor structure, the maximum upper end height ME (maximum value at the upper end), the minimum height MF at the lower end of the roadway (the lowest value when the height of the lower end is measured from the roadway height a), sidewalk A minimum lower end height MG (a minimum value obtained by measuring the height of the lower end from the sidewalk height b) is defined.
Further, the maximum saturation for each Munsell hue in the Munsell color chart is defined as an item of color restriction data.

Next, the operation will be described.
For example, some local governments may restrict the position, shape, color, etc. of advertisements installed outdoors.
For example, the following non-patent document 1 defines a restriction on the size of an outdoor advertising matter protruding on a road surface.
Moreover, the following nonpatent literature 2 has prescribed | regulated the restriction | limiting with respect to the color of an outdoor advertising matter.
・ Non-patent document 1
Tokyo Metropolitan Government, “Bookmarks for Outdoor Advertising”, P.I. 14-15
・ Non-patent document 2
Sakai City, “Sakai City Landscape Plan”, p. 132

The outdoor structure measuring apparatus according to the second embodiment is equipped with a function for determining whether or not the outdoor structure is within the limit range.
Hereinafter, the determination process of the outdoor structure measuring apparatus will be specifically described.

The measurement result determination unit 14 inputs the outdoor structure measurement data recorded in the outdoor structure measurement data recording unit 12 and recognizes the width c, the upper end height e, and the lower end height f of the outdoor structure, and the outdoor structure. Recognize the hue of each area that makes up an object.
The measurement result determination unit 14 compares the maximum width MC included in the position / shape restriction data that is outdoor structure measurement data with the width c of the outdoor structure, and the width c of the outdoor structure is the maximum width MC. It is determined whether it is within the range.
In addition, the measurement result determination unit 14 compares the maximum upper end height ME included in the position / shape restriction data with the upper end height e of the outdoor structure, and the upper end height e of the outdoor structure is within the range of the maximum upper end height ME. It is determined whether or not.
Furthermore, the measurement result determination unit 14 compares the lowest height MF of the roadway lower end and the lowest height MG of the sidewalk lower end MG included in the position / shape restriction data with the lower end height f of the outdoor structure. It is determined whether it is within the range of the minimum height MF of the lower end of the roadway and the minimum height MG of the sidewalk.

Next, the measurement result determination unit 14 determines, for each hue of each area constituting the outdoor structure, from the maximum saturation of the Munsell hue included in the color restriction data that is the outdoor structure measurement data. Recognizing the maximum saturation corresponding to the hue of the area, the saturation of the pixels constituting the area (the saturation indicated by the pixel values (r, g, b) of the pixels specified by the pixel measuring unit 33) And the maximum saturation are compared, and it is determined whether or not the saturation of the pixels constituting the region is within the maximum saturation range.
When all the determination processes are completed, the measurement result determination unit 14 stores determination data indicating the determination results in the determination data recording unit 15.

  As is apparent from the above, according to the second embodiment, the measurement result determination unit 14 refers to the outdoor structure restriction data recorded in the outdoor structure restriction data recording unit 13 and measures the outdoor structure. Since it is configured to judge whether the 3D position, 3D shape and color of the outdoor structure, which is the measurement result of the equipment, satisfies the installation standard, the outdoor structure that does not satisfy the installation standard is detected. The effect which can be done is produced.

In the second embodiment, the measurement result determination unit 14 shows all the determination results stored in the determination data recording unit 15, but in this case, the determination data includes items other than the target outdoor advertisement. The determination result regarding the outdoor structure may be stored.
In such a case, by displaying a captured image corresponding to the image pointer included in the outdoor structure measurement data, an outdoor structure other than the outdoor advertisement targeted by the operator can be omitted.

In the second embodiment, as the outdoor structure restriction data, one set of the position / shape restriction data and the color restriction data is shown. However, for example, the outdoor structure restriction data is applied to each municipality or each city block within the municipality. The outdoor structure restriction data may differ.
In such a case, if you prepare multiple sets of position / shape restriction data and color restriction data as the outdoor structure restriction data and the map data holds the boundary data of the local government or city block, the installation of the outdoor structure Appropriate determination data of the measurement result can be obtained for each local government or block.

  1 data acquisition vehicle, 2 3D data acquisition device (3D data acquisition means), 3 captured image data acquisition device (captured image data acquisition means), 4 3D data recording unit, 5 captured image data recording unit, 6 position shape Specific part (position shape specifying means), 7 position / shape data recording part, 8 color specifying part (color specifying means), 9 color data recording part, 10 map data DB (map recording means), 11 map matching part (map matching) Means), 12 outdoor structure measurement data recording unit, 13 outdoor structure restriction data recording unit (measurement result determination unit), 14 measurement result determination unit (measurement result determination unit), 15 determination data recording unit, 21 straight section division unit , 22 Roadway height measurement unit, 23 Sidewalk height measurement unit, 24 Width / depth measurement unit, 25 Upper / lower end measurement unit, 26 Center measurement unit, 31 Image selection unit, 32 Structure cutout unit, 33 pixel measurement unit.

Claims (6)

  In a state where it is installed on a moving body, it scans an outdoor feature to obtain point cloud data indicating the three-dimensional position and scanning time of the scanning point on the surface of the feature, and the traveling position of the moving body and Three-dimensional data acquisition means for acquiring trajectory data indicating travel time, and shooting of outdoor features in a state of being installed on the moving body, and showing the shooting position, shooting time and shot image of the features The captured image data acquisition means for acquiring image data, the point cloud data and the trajectory data acquired by the three-dimensional data acquisition means are analyzed, the outdoor structure is extracted from the outdoor features, and the outdoor structure is A position shape specifying means for specifying the installed three-dimensional position and specifying a three-dimensional shape of the outdoor structure, a three-dimensional position and a three-dimensional shape specified by the position shape specifying means, and the captured image The captured image data acquired by the data acquisition means is collated, an area where the outdoor structure is reflected in the captured image indicated by the captured image data is specified, and the color of the outdoor structure is determined from the pixel value of the area. An outdoor structure measuring device comprising color specifying means for specifying.   The position shape specifying means specifies the width, depth, upper end height and lower end height of the outdoor structure as the three-dimensional shape of the outdoor structure, and sets the outdoor structure as the three-dimensional position where the outdoor structure is installed. The outdoor structure measuring device according to claim 1, wherein a center position of the object is specified.   3. The outdoor structure according to claim 1 or 2, wherein the color specifying means specifies, for each hue of the outdoor structure, positions of a left end, a right end, an upper end, and a lower end of an area occupied by the hue. Measuring device.   Map recording means for storing map data holding information on outdoor features, the three-dimensional position specified by the position shape specifying means, the three-dimensional shape and the color specified by the color specifying means, and the map The outdoor structure measuring device according to any one of claims 1 to 3, further comprising map matching means associated with the map data recorded in the recording means.   A measurement result determining means for determining whether or not the three-dimensional position and the three-dimensional shape specified by the position shape specifying means and the color specified by the color specifying means satisfy an installation standard is provided. The outdoor structure measuring device according to any one of claims 1 to 4.   While the three-dimensional data acquisition means is installed on the moving body, it scans the outdoor feature, acquires the point cloud data indicating the three-dimensional position and the scanning time of the scanning point on the surface of the feature, The three-dimensional data acquisition processing step for acquiring trajectory data indicating the travel position and travel time of the mobile body, and the photographed image data acquisition means are installed on the mobile body to photograph outdoor features, The captured image data acquisition processing step for acquiring captured image data indicating the imaging position, the imaging time and the captured image of the feature, and the point shape data and locus acquired by the position shape specifying means in the three-dimensional data acquisition processing step. Analyzing data, extracting outdoor structures from outdoor features, specifying the three-dimensional position where the outdoor structure is installed, and specifying the three-dimensional shape of the outdoor structure The shape specifying processing step and the color specifying means collate the 3D position and 3D shape specified in the position shape specifying processing step with the captured image data acquired in the captured image data acquisition processing step, and An outdoor structure measuring method comprising: a color specifying processing step that specifies an area in which an outdoor structure is reflected in a captured image indicated by image data and specifies a color of the outdoor structure from a pixel value of the area.

Images