KR100550430B1 - Apparatus and method for guiding route of vehicle using three-dimensional information - Google Patents

Abstract

A camera photographs the driving front of the moving object, converts map information into 3D information using the captured video signal, and displays the 3D information and the video signal of the front of the moving object photographed by the camera together on the display panel. While guiding the movement of the moving object.

A GPS receiver which receives the position information transmitted by the GPS satellite through an antenna, a sensor unit installed in the moving object to detect the driving direction and the traveling distance of the moving object, and a map storing the digital map and the map information including the place name information. The current position of the moving object is detected by an information storage unit, a camera mounted on the moving object to photograph an image of the front and rear of the moving object, a key input unit for inputting an operation command according to a user's operation, and an output signal of the GPS receiver and sensor unit. Map the detected current position of the moving object to the digital map stored in the map information storage unit, and map matching information to the digital map, map images stored by the camera and map information stored in the map information storage unit. Driving plan that guides the moving object by controlling the display of extracted 3D information and image taken by camera Under the control of the control and driving guidance control unit it is configured to image and three-dimensional information that the camera is taken with a display driver for displaying on a display unit.

Navigation, 3D Information, Camera, Feature Point, Correspondence Point, Map Matching Information

Description

Apparatus and method for guiding route of vehicle using three-dimensional information}

1 is a block diagram showing the configuration of a navigation system according to the driving guidance apparatus of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a driving guide control unit of FIG. 1.

3 is a block diagram showing the configuration of an embodiment of the three-dimensional information conversion means of FIG.

4 is a view for explaining that the three-dimensional information calculation means to obtain the intersection of the feature point and the corresponding point in the driving guide device of the present invention.

5 is a block diagram showing the configuration of another embodiment of the three-dimensional information conversion means of FIG.

6 is a signal flow diagram showing a driving guidance method of the present invention.

7 is a signal flow diagram showing an embodiment of the three-dimensional information conversion of FIG.

8 is a signal flow diagram showing another embodiment of the three-dimensional information conversion of FIG.

Explanation of symbols on the main parts of the drawings

100: GPS satellite 110: antenna

120: GPS receiver 130: sensor

140: map information storage unit 150, 500, 510: camera

160: key input unit 170: driving guide control unit

180: display driver 190: display unit

200: moving position detection means 210: map matching means

220: three-dimensional information conversion means 230, 240: first and second switching means

250: image matching means 300, 520, 530: feature point extraction means

310: storage means 320: feature point tracking means

330: feature point matching means 340, 550: three-dimensional information calculation means

540: stereo matching means

The present invention provides a navigation system comprising: map matching information obtained by mapping a predetermined video signal captured by a camera, a current position of a moving object detected by a GPS (Global Positioning System) signal, and an output signal of a sensor unit to map-matched digital map data; 3D information is generated using the map information stored in the map information memory, and the generated 3D information is matched to a predetermined video signal photographed by a camera and displayed on the display panel to guide driving of the moving object. It relates to a driving guide device and a method of using a moving object.

With the development of location-based services, various navigation systems have been developed that display the current location of certain moving objects, including vehicles, and search the driving route from the current location of the moving object to the destination to guide the optimal driving route. It is commercially available.

Such a navigation system typically displays a two-dimensional map on a screen of a display panel, and guides the traveling route of the moving object while displaying the moving direction of the moving object on the two-dimensional map by an arrow or displaying the current position of the moving object.

In recent years, many expensive 3D navigation systems have been introduced that display a 3D map with a virtual 3D effect such as a bird's eye view along with the current position of the moving object on the display panel. However, the display of the three-dimensional map in these three-dimensional navigation system only shows a very basic three-dimensional effect.

In other words, 3D navigation systems currently on the market forcibly insert shadows in buildings, etc. when displaying a 2D map on a display panel to produce an effect as if it is a 3D map or an accurate 3D visual point. Without considering the movement of coordinates, the two-dimensional map is simply converted to image warping and beveled and displayed on the screen of the display panel, and then the shape of buildings and roads is modeled in three dimensions. To display together.

However, the display of the conventional three-dimensional map as described above has a limitation in modeling the shape of a building or a road in three dimensions in the same manner as in the real world, and there are many differences from the driver actually seeing while driving a moving object. As a result, the user's confusion is increased rather than guiding the moving of the moving object through the 2D map, and when the building or road is to be demolished and newly constructed, it has to be updated through a new 3D modeling work. There was this.

It is therefore an object of the present invention to provide a traveling guide apparatus and method for moving objects using three-dimensional information for guiding driving of the moving object while displaying the same image signal as the driver of the moving object actually sees on the display panel.

Another object of the present invention is to photograph the driving front of the moving object with a camera, and converts the map information such as the name of the place or the name of the building into three-dimensional information by using the captured image signal, the converted three-dimensional information and the camera The present invention provides a traveling guide apparatus and a method using a three-dimensional information for guiding the traveling of the moving object while displaying the image signal of the front of the moving object taken on the display panel together.

The traveling guide apparatus of a mobile body using the three-dimensional information of the present invention having the above object is a GPS receiver for receiving position information transmitted by a GPS satellite through an antenna, and installed in the mobile body to detect the traveling direction and the traveling distance of the mobile body. A sensor unit, a map information storage unit for storing map information including digital maps and name information, a camera installed in the moving object to capture an image of the front and rear surfaces of the moving object, and inputting an operation command according to a user's operation Map matching information for detecting a current position of a moving object by a key input unit, an output signal of the GPS receiver and a sensor unit, and matching the detected current position of the moving object to a digital map stored in the map information storage unit and performing a map matching with a digital map; Extracting 3D information by using the image photographed by the camera and the map information stored in the map information storage unit A display unit for controlling the display of the extracted 3D information and the image captured by the camera to guide the moving of the moving object, and displaying the image and 3D information captured by the camera under the control of the driving guide control unit. Characterized in that it comprises a display drive unit.

The driving guide control unit includes: a moving object position detecting means for detecting a current position of a moving object by a GPS reception signal received by the GPS receiving unit and a detection signal of the sensor unit, and a current position of the moving object detected by the moving object position detecting means. Map matching means for map matching map information stored in an information storage unit, and map information read from a map data storage unit using map matching information of the map matching means as a reference position, according to an image signal captured by the camera; 3D information converting means for converting the information into image information, and image matching means for matching the map matching information of the map matching means with the photographed video signal of the camera and outputting the same to the display driver, and the map matching information of the map matching means. Or selectively switching the 3D information converted by the 3D information converting means to the image matching means. Is characterized in that it further comprises a first switching means and second switching means for switching the map information or the photographed image signal of the camera is read out from the map information storage unit for selectively input to the image matching means.

The three-dimensional information converting means may include feature point extracting means for extracting a plurality of feature points from the photographed video signal of the camera, storage means for storing the feature points extracted by the feature point extracting unit, and photographing of the camera. A feature point tracking means for tracking and finding feature points of a previous image stored in the storage means in a video signal, and feature point matching means for matching a feature point tracked by the feature point tracking means to obtain a basic matrix; And three-dimensional information calculating means for calculating three-dimensional information on the map information based on the current position of the moving object according to the map matching information of the map matching means using the basic matrix obtained by the matching means.

In addition, the driving guidance method of the moving object using the three-dimensional information of the present invention, the receiving signal of the GPS receiver and the detection signal of the sensor unit is received by the moving position detection means of the driving guide control unit, the received signal and the detection unit of the GPS receiver unit The current position of the moving object is detected by a signal, maps the detected current position of the moving object to a digital map stored in the map information storage unit, and a driving guidance controller receives a camera image signal and receives a digital map of the current position of the moving object. Map matching information mapped to a map and the captured image signal of the camera is converted into map information read from the map information storage unit into 3D information, and the display driving unit after matching the converted 3D information with the captured image signal of the camera Characterized in that the display on the display.

In addition, the driving guidance method of the moving object using the three-dimensional information of the present invention, according to the operation command of the key input unit detects the current position of the moving object by the output signal of the GPS receiver and the sensor unit, and stores the current position of the detected moving object map information Map matching to the digital map stored in the unit, and extracts 3D information using map matching information matched to the digital map, an image taken by the camera, and map information stored in the map information storage unit, and extracts the 3D information. And guiding driving of the moving object while controlling the display of the image photographed by the camera.                         

The three-dimensional information extraction is characterized in that the feature point extracting means extracts a plurality of feature points from the captured video signal of one camera and stores the plurality of feature points in the storage means. A feature point matching means matches the extracted feature points with corresponding feature points by extracting a plurality of corresponding points corresponding to the plurality of feature points by tracking in the next scene of the feature, and extracting a base matrix according to the detected intersection points. The 3D information calculating means converts the map information read from the map information storage unit into 3D information using the detected basic matrix and the map matching information.

The three-dimensional information extraction may include two feature point extracting means for extracting a plurality of feature points from the captured image signals of two cameras, and stereo matching means corresponding to each other among the extracted feature points. Detects the intersection points, extracts the base matrix according to the detected intersection points, and converts the map information read from the map information storage unit into 3D information by using the extracted base matrix and the map matching information. Characterized in that.

Hereinafter, with reference to the accompanying drawings will be described in detail a driving guide device and method of the moving body using the three-dimensional information of the present invention.

1 is a block diagram showing the configuration of a navigation system according to the driving guidance apparatus of the present invention. As shown therein, the GPS receiver 120 receives the position information transmitted by the GPS satellite 100 through the antenna 110, and the sensor unit 130 installed in the moving object detects the driving direction and the traveling distance of the moving object. And a map information storage unit 140 for storing various map information including digital maps and name information, a camera 150 installed in the moving object to photograph an image of the front and rear surfaces of the moving object, and a user's operation. The map information storage unit 140 detects the current position of the moving object using the key input unit 160 for inputting an operation command, and output signals of the GPS receiver 120 and the sensor unit 130. Map matching to the digital map stored in the digital map, map matching information to the digital map, the image signal taken by the camera 150 and map information stored in the map information storage unit 140 to convert the three-dimensional information The driving guide control unit 170 which guides the moving of the moving object by controlling the display of the converted 3D information and the image signal photographed by the camera 150, and the camera 150 under the control of the driving guide control unit 170. The display driver 180 displays the image signal and the 3D information photographed by the display unit 190 on the display unit 190.

As shown in FIG. 2, the driving guide control unit 170 detects the current position of the moving object by the GPS reception signal received by the GPS receiver 120 and the detection signal of the sensor unit 130. 200, map matching means 210 for map matching the current position of the moving object detected by the moving object position detecting means 200 to the map information stored in the map information storage 140, and the map matching means ( Three-dimensional information converting means 220 for converting the map information read from the map information storage unit 140 into three-dimensional information according to an image signal photographed by the camera 150 using the map matching information of 210 as a reference position. And first switching means 230 for selecting one by switching map matching information of the map matching means 210 or three-dimensional information converted by the three-dimensional information converting means 220, and the camera 150. Captured video signal and stored in the map information storage unit 140. Second switching means 240 for switching the map information to select one, and matching the 3D information selected according to the switching of the first and second switching means 230 and 240 to an image signal or a map. The image matching means 250 is configured to match the matching information with the map information and output the matching information to the display driver 180.

As shown in FIG. 3, the three-dimensional information converting means 220 includes feature point extracting means 300 for extracting a plurality of feature points from the captured image signal of the camera 150, and the feature point extracting means ( Storage means 310 for storing a plurality of feature points extracted by the 300, and feature point tracking means for tracking feature points of the previous video signal stored in the storage means 310 in the captured image signal of the camera 150 ( 320, the feature point matching means 330 for obtaining a basic matrix by matching the feature points tracked by the feature point tracking means 320, and the current position of the moving object according to the map matching information of the map matching means 210. It consists of a three-dimensional information calculation means 340 for calculating the three-dimensional information of the map information read from the map information storage unit 140 using the base matrix obtained by the feature point matching means 330 on the basis of It was.

The driving guide apparatus of the present invention configured as described above receives the position information transmitted from the GPS satellite 100 by the GPS receiver 120 through the antenna 110 and inputs it to the driving guide controller 170, and the sensor unit 130. Detects a traveling speed and a driving direction according to the movement of the moving object and inputs it to the driving guide control unit 170, and the camera 150 captures the front of the moving object and inputs the driving guide control unit 170.

Then, the driving guide control unit 170, the moving object position detecting means 200 detects the current position of the moving object by the GPS reception signal received by the GPS receiver 120 and the detection signal of the sensor unit 130, the detection The map matching means 210 accurately maps the current position of a moving object to the map information read out from the map information storage unit 140, that is, the digital map, and the map matching information corresponding to the map is 3D information converting means 220. And is applied to the fixed terminal (b1) of the first switching means (230).

As illustrated in FIG. 3, the 3D information converting unit 220 receives a video signal captured by the camera 150 and receives the feature point extracting unit 300 to extract a plurality of feature points. Here, the extraction of the plurality of feature points extracts corner points, such as corners of buildings, from the captured image signal, and uses a corner corner detection algorithm or Susan corner detection algorithm. Extract and store in the storage means (310).

Normally, seven points at a general position that are not on the same plane of the photographed video signal of the camera are acquired, and when the acquired seven points are tracked, the three-dimensional video signal can be restored. However, when actually restoring the 3D video signal, all seven points do not exist on the same plane, and it is difficult to be located at a general position. Therefore, in practice, the feature point extracting means 300 of the present invention needs to extract seven or more, for example, several dozen or more feature points, and extracts dozens of feature points from the video signal of every scene photographed by the camera 150. Then, the extracted feature points are stored in the storage means 310.

In order to reconstruct the video signal captured by one camera 150 in three dimensions, continuous video signals must be used, and feature points corresponding to the consecutive video signals must be found. It is necessary to track to which position the predetermined feature point is moved in the next successive video signal. To this end, in the present invention, the feature point tracking unit 320 receives a specific point stored in the storage unit 310, and to which position the received feature point is moved within the next video signal input from the camera 150. To be tracked.

The tracking of the feature points of the feature point tracking means 320 forms a window of a certain size in the next video signal for each feature point, and the cross correlation within the window is maximized. We look for corresponding correspondence point.

When the feature point tracking means 320 tracks the feature point and finds a corresponding point corresponding to the feature point, the feature point matching means 330 determines the feature points in the two image signals from the coordinates of the feature point and the corresponding points. And a fundamental matrix representing correspondences of corresponding points.

If there are many points that are not in a general position and exist on the same plane, it is difficult to obtain an accurate basic matrix. Therefore, the feature point matching means 330 of the present invention obtains the basic matrix by using RANSAC (RANdom SAmpling Consensus), which is an algorithm for removing outlier points that do not interfere with the calculation of the base matrix.

When the base matrix is obtained from the feature point matching means 330, the 3D information calculation means 340 uses the obtained base matrix, and the 3D intersection point of each feature point and a corresponding point corresponding to the feature point is obtained. After calculating the 3D coordinates for the obtained 3D intersection, the 2D map information read from the map information storage unit 140 is converted into 3D information according to the calculated 3D coordinates.

That is, the three-dimensional coordinate calculation in the three-dimensional information calculation means 340, the center position of the camera 150 with respect to the image 400 taken immediately before using the obtained basic matrix as shown in FIG. That is, the back projected ray 406 passing through the predetermined feature point 404 from the time point 402 at which the image 400 was captured, and the view point 412 for the next image 410 captured. ), The three-dimensional intersection 420 where the back projected line 414 passing through the corresponding point 414 corresponding to the feature point 404 meet each other, and triangulation (420) with respect to the obtained intersection 420 triangulation) to obtain a three-dimensional coordinate based on the current position of the moving object according to the map matching information. When the three-dimensional coordinates of the intersection points for each of the plurality of feature points 404 and the plurality of corresponding points 414 corresponding to the plurality of feature points 404 are obtained, the three-dimensional coordinates of the respective intersection points are used. Each map information read from the map information storage unit 140 is converted into three-dimensional information.

The three-dimensional information converted by the three-dimensional information calculating means 340 of the three-dimensional converting means 220 is applied to the fixed terminal a1 of the first switching means 230.

In this state, when the user manipulates the key input unit 160 to command a three-dimensional display, the first switching means 230 and the second switching means 240 have movable terminals connected to the fixed terminals a1 and a2. Each is connected.

Then, the three-dimensional information output from the three-dimensional information conversion means 220 and the image signal photographed by the camera 150 through the first switching means 230 and the second switching means 240 through the image matching means ( The image matching means 250 inputs the image signal captured by the camera 150 to match the coordinates of the three-dimensional information to the respective coordinates, and the synthesized image signal and the three-dimensional information are combined with the display driver. The display unit 190 displays the display unit 190 through 180.

When the user commands the display of the two-dimensional digital map by manipulating the key input unit 160, the first switching means 230 and the second switching means 240 have the movable terminals at the fixed terminals b1 and b2. Each is connected.

Then, the map matching information output from the map matching means 210 and the map information read from the map information storage unit 140, that is, the digital map, respectively, the first switching means 230 and the second switching means 240, respectively. The image matching means 250, which is input to the image matching means 250 through the conventional method, inserts the position of the moving object according to the map matching information into the digital map and outputs it to the display driver 180 to the display 190. Is displayed.

5 is a block diagram showing the configuration of another embodiment of the three-dimensional information conversion means 220 of FIG. As shown in FIG. 1, the first camera 500 and the second camera 410 are installed on the movable body while maintaining a predetermined distance therebetween, respectively, and photograph the moving front image of the movable body, respectively, and the first camera 500. And first feature point extracting means 520 and second feature point extracting means 530 for extracting feature points from the captured video signal of the second camera 410, and the first and second feature point extracting means 520. Stereo matching means (540) for obtaining a basic matrix by matching feature points extracted by 530, and the stereo matching means (540) based on the current position of the moving object based on map matching information of the map matching means (210). 3D information calculation means 550 for calculating 3D information of the map information read from the map information storage unit 140 using the obtained basic matrix.

According to another embodiment of the three-dimensional information converting means 220 of the present invention configured as described above, the first and second cameras 500 and 510 installed in the movable body while maintaining a predetermined interval therebetween when the movable body is traveling. 2) respectively photograph the traveling front of the moving object, and the captured image signal is input to the first and second feature point extracting means 520 and 530, respectively.

The first and second feature point extracting means 520 and 530 extract a plurality of feature points from the captured image signals of the first and second camera 500 and 510, respectively. The plurality of feature points extracting means 520 and 530 are input to the stereo matching means 540 respectively.

Then, the stereo matching means 540, like the feature point matching means 330, the feature corresponding to each other among the plurality of feature points extracted by the first and second feature point extraction means (520, 530), respectively By detecting the intersection of the points, a basic matrix representing the correspondence of the feature points is obtained, and each feature point and the feature are obtained by using the obtained base matrix by the 3D information calculating means 550 using the obtained base matrix. After obtaining the three-dimensional intersection of the corresponding point corresponding to the point, after calculating the three-dimensional coordinates of the obtained three-dimensional intersection, the two-dimensional read out of the map information storage unit 140 according to the calculated three-dimensional coordinates Convert map information into 3D information.

6 is a signal flow diagram illustrating an embodiment of a driving guidance method of the present invention for guiding driving of a moving body while photographing a traveling front of the moving body using one camera 150. As shown in FIG. 6, the driving guide control unit 170 receives the received signal received by the GPS receiver 120 and the detection signal detected by the sensor unit 130 in step 600, and the input signal is received in step 602. The moving object position detecting means 200 detects the current position of the moving object by using the GPS received signal and the detection signal of the sensor unit 130, and in step 604 the map information storage unit 140 stores the current position of the detected moving object. Map matching to the digital map stored in).

In the next step 606, the driving guide control unit 170 inputs the captured image signal of the camera 150 (500, 510), and in step 608 map matching information for map matching the current position of the moving object to the digital map And convert the map information read from the map information storage unit 140 into 3D information using the captured image signals of the cameras 150, 500 and 510, and then convert the converted 3D information in step 610. Matched to the photographed video signal of the camera 150, 500, and displayed on the display unit 190 through the display driver 180 to guide the driving of the moving object.

As shown in FIG. 7, the three-dimensional information conversion in step 608 is performed by the feature point extracting means 300 of the driving guide control unit 170 in step 700. Extracts a plurality of feature points in the storage means 310 and stores the plurality of feature points in the storage means 310, and then the feature point tracking means 320 next scenes of the captured image signal of the camera 150. Trace to extract a plurality of corresponding points respectively corresponding to the plurality of feature points.

In the next step 704, the feature point matching means 330 matches the feature point with the corresponding point corresponding to the feature point, detects an intersection point, extracts a basic matrix according to the detected intersection point, and in step 706 The 3D information calculating unit 340 converts the map information read from the map information storage unit 140 into 3D information using the detected base matrix and the map matching information.

8 is a signal flow diagram illustrating another embodiment of performing 3D information conversion in step 608. As shown in FIG. 800, the first and second feature point extracting means 520 and 530 extract a plurality of feature points, respectively, from the captured image signal respectively photographed by the two cameras 500 and 510 in step 800. In operation 802, the stereo matching unit 540 detects an intersection of feature points corresponding to each other among the extracted feature points, and extracts a basic matrix according to the detected intersection.

In the next step 804, the three-dimensional information calculation means 550 converts the map information read from the map information storage unit 140 into three-dimensional information by using the detected basic matrix and the map matching information.

On the other hand, while the present invention has been shown and described with respect to specific preferred embodiments, various modifications and changes of the present invention without departing from the spirit or field of the invention provided by the claims below It can be easily understood by those skilled in the art.

As described above, the present invention generates three-dimensional information by using the photographed video signal of the camera, and matches the generated three-dimensional information with the photographed video signal of the camera to display on the display panel to guide the driving of the moving object. It is not necessary to perform a separate three-dimensional modeling process for a building or a road, and the driving of the moving body can be accurately guided to the driver by displaying the same image as the image of the moving object actually seen by the driver.

Claims (8)

A GPS receiver for receiving position information transmitted by a GPS satellite through an antenna; A sensor unit installed at a moving body to detect a driving direction and a traveling distance of the moving body; A map information storage unit for storing map information including digital maps and name information; A camera installed in the moving body to take an image of the front and rear of the moving body; A key input unit for inputting an operation command according to a user's operation; According to an operation command of the key input unit, the GPS receiver and the sensor output signals to detect the current position of the moving object, and map the detected current position of the moving object to the digital map stored in the map information storage unit. The map matching information and the image taken by the camera are used to convert the map information stored in the map information storage unit into three-dimensional information, and control the display of the converted three-dimensional information and the image taken by the camera to drive the moving object. A driving guide controller for guiding; And a three-dimensional information including a display driver for displaying the three-dimensional information and the image photographed by the camera on a display unit under the control of the traveling guide controller. According to claim 1, The driving guide control unit; Moving object position detecting means for detecting the current position of the moving object by the GPS receiving signal received by the GPS receiving part and the detection signal of the sensor part; Map matching means for map-matching the current position of the moving object detected by the moving object position detecting means with the map information stored in the map information storage unit; Three-dimensional information conversion means for converting map information read from a map data storage unit into three-dimensional information according to an image signal photographed by the camera, using the map matching information of the map matching means as a reference position; And an image matching means for matching the map matching information of the map matching means to the captured image signal of the camera and outputting the image matching means to the display driver. The method of claim 2, First switching means for selectively switching the map matching information of the map matching means or the three-dimensional information converted by the three-dimensional information converting means to selectively input the image matching means; And And a second switching means for selectively switching the map information read from the map information storage unit or the photographed image signal of the camera to selectively input the image matching means to the image matching means. Device. The method of claim 2, wherein the three-dimensional information conversion means; Feature point extraction means for extracting a plurality of feature points from the captured video signal of the camera; Storage means for storing a plurality of feature points extracted by the feature point extractor; Feature point tracking means for tracking and finding feature points of a previous image stored in the storage means in the captured image signal of the camera; Feature point matching means for matching a feature point tracked by the feature point tracking means to obtain a basic matrix; And three-dimensional information calculating means for calculating three-dimensional information on the map information based on the current position of the moving object according to the map matching information of the map matching means by using the basic matrix obtained by the feature point matching means. Travel guide device of the moving object using the three-dimensional information. A position detection process of detecting a current position of the moving object by receiving the received signal of the GPS receiving unit and the detecting signal of the sensor unit from the moving object position detecting means of the driving guide control unit; A map matching step of map matching the current position of the moving object detected in the location detection process to a digital map stored in a map information storage unit; The driving guide control unit receives an image signal captured by the camera and converts the map information read from the map information storage unit into 3D information using the map matching information of the map matching process and the image signal captured by the camera. Dimensional information conversion process; And And a display process of matching the 3D information converted in the 3D information conversion process to the image signal photographed by the camera and displaying the 3D information on the display unit through a display driving unit. A position detection process of detecting a current position of the moving object by output signals of the GPS receiver and the sensor according to an operation command of the key input unit; A map matching process of map matching the detected current position of the moving object to a digital map stored in a map information storage unit; A three-dimensional information conversion process of converting map information stored in the map information storage unit into three-dimensional information by using map matching information matched with a digital map and an image photographed by a camera; And And a guide process for guiding driving of the moving object while controlling the display of the converted 3D information and the image captured by the camera. The method of claim 5 or 6, wherein the three-dimensional information conversion process; A tenth step of extracting, by the feature point extracting means, the plurality of feature points from the image signal photographed by one camera and storing them in the storage means; An eleventh step of extracting a plurality of corresponding points respectively corresponding to the plurality of feature points by the feature point tracking unit tracking the plurality of feature points stored in the step 10 in a next scene of the captured video signal of the camera; A twelfth step of detecting intersection points by the feature point matching means matching the feature points extracted in the tenth step and the corresponding points extracted in the eleventh step, and extracting a basic matrix according to the detected intersection points; And a thirteenth step of converting map information read from the map information storage unit into three-dimensional information by using the basic matrix detected in the twelfth step and the map matching information. Driving guidance method of moving object using dimensional information. The method of claim 5 or 6, wherein the three-dimensional information conversion process; A twentieth step of extracting a plurality of feature points from two feature point extracting means, respectively, from image signals captured by two cameras; A twenty-first step of detecting an intersection of feature points corresponding to each other by stereo matching means among a plurality of feature points extracted in the twentieth step, and extracting a basic matrix according to the detected intersection points; And A three-dimensional process comprising a twenty-second process of converting map information read from a map information storage unit into three-dimensional information by using the basic matrix extracted in the twenty-first step and the map matching information; Driving guide method of the moving object using the information.

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