KR102506263B1 - Apparatus, method, and computer readable recording medium for aerial image process, navigation apparatus and server for path guide using aerial map - Google Patents

Abstract

An aerial image processing method is disclosed. This aerial image processing method includes the steps of receiving winter aerial images and non-winter aerial images, generating mask images by detecting green areas in non-winter aerial images, and synthesizing aerial images by synthesizing the generated mask images and winter aerial images. It includes the step of generating.

Description

Aerial image processing apparatus, aerial image processing method, computer readable recording medium in which a program for aerial image processing is recorded, navigation device and server performing route guidance using aerial maps {APPARATUS, METHOD, AND COMPUTER READABLE RECORDING MEDIUM FOR AERIAL IMAGE PROCESS, NAVIGATION APPARATUS AND SERVER FOR PATH GUIDE USING AERIAL MAP}

The present invention relates to an aerial image processing device, an aerial image processing method, a computer readable recording medium on which a program for processing an aerial image is recorded, and a navigation device and server for providing route guidance using aerial images.

Currently, as the number of moving objects such as cars continues to increase, traffic congestion is aggravated, and since the rate of increase of these moving objects is very fast compared to the speed at which infrastructure such as roads are being expanded, the seriousness of problems such as traffic congestion is emerging. .

In this situation, navigation devices are attracting attention as one of the solutions to traffic congestion. A navigation device determines the current location of a moving object by receiving a navigation message transmitted by GPS (Global Positioning System) satellites, matches the current location of the moving object to map data, displays it on the screen, and also provides information from the current location of the moving object to the destination. search the driving route. In addition, the navigation device allows the user to efficiently use a given road network by guiding the user to drive the mobile object along the searched driving route.

A map displayed on the screen of a navigation device is a digital map, and roads and features are displayed based on 2D images through digitized map data, or features are modeled in 3D to give a more realistic feeling.

Recently, a method has been provided to accurately grasp actual road conditions and surrounding conditions by performing route guidance using aerial photographs actually taken from an aircraft. In particular, in the case of aerial images, as the precision increases, they are digesting the role of maps.

However, it is not easy to obtain aerial photos taken under favorable weather conditions. In particular, since the number of shooting days with a high pleasantness index is gradually decreasing due to the influence of yellow sand or fine dust, it is becoming more difficult to obtain good quality aerial photographs.

Therefore, in the prior art, aerial photography was generally taken during the winter season. In addition, when the winter season passes and spring or summer arrives, green areas are manually synthesized with aerial images taken in the previous winter season or aerial photographs are retaken to provide aerial photographs appropriate for the current time. However, in this case, it is possible to provide an appropriate aerial photograph at the current time, but there is a problem in that a lot of additional cost is incurred.

The present invention has been made in accordance with the above-mentioned needs, and an object of the present invention is to generate a mask image by detecting a green area in a non-winter aerial image, and to generate a synthesized aerial image by synthesizing the mask image and the winter aerial image. An aerial image processing device, an aerial image processing method, and a computer readable recording medium having a program for processing the aerial image are provided.

In addition, another object of the present invention is to provide a navigation device and server for performing route guidance based on an aerial map generated according to an aerial image processing method.

In order to achieve the above object, an aerial image processing method according to an embodiment of the present invention includes the steps of receiving a winter aerial image and a non-winter aerial image, and generating a mask image by detecting a green area in the non-winter aerial image. and generating a synthesized aerial image by synthesizing the generated mask image and the winter aerial image.

The generating of the mask image may include converting the non-winter aerial image into a Hue Saturation Value (HSV) image, and a predetermined value for each of the S (Saturation) channel image and the V (Value) channel image of the HSV image. The method may include detecting green areas based on pixel values and generating a first mask image using the detected green areas.

The converting may include generating a non-winter aerial image in which the green area is emphasized by adjusting at least one pixel value among R (Red), G (Green), and B (Blue) in the non-winter aerial image. and converting the non-winter aerial image in which the green area is emphasized into a Hue Saturation Value (HSV) image.

The method may further include generating a second mask image by performing Gaussian filter processing on the first mask image.

In addition, the generating of the synthesized aerial image may include calculating a ratio for adjusting pixel values of the winter aerial image and the mask image, respectively, and the winter aerial image and the winter aerial image based on the calculated ratio. A step of synthesizing by assigning a weight to each of the mask images may be included.

The method may further include generating an aerial map using a plurality of synthesized aerial images generated according to the aerial image processing method.

On the other hand, an aerial image processing apparatus for processing an aerial image using a winter aerial image and a non-winter aerial image according to an embodiment of the present invention for achieving the above object, detects a green area in the non-winter aerial image It includes a mask image generation unit generating a mask image and a synthesis aerial image generation unit generating a synthesized aerial image by synthesizing the generated mask image and the winter aerial image.

And, it further includes an image conversion unit that converts non-winter aerial images into Hue Saturation Value (HSV) images, wherein the mask image generation unit generates an S (Saturation) channel image and a V (Value) channel image of the HSV image, respectively. It may include a green area detector to detect a green area based on a predetermined pixel value and a first mask image generator to generate a first mask image using the detected green area.

In addition, the image converter generates a non-winter aerial image in which the green area is emphasized by adjusting at least one pixel value among R (Red), G (Green), and B (Blue) in the non-winter aerial image, A non-winter aerial image in which a green area is emphasized may be converted into a Hue Saturation Value (HSV) image.

The mask image generator may further include a second mask image generator configured to generate a second mask image by performing a Gaussian filter process on the first mask image.

In addition, the synthesized aerial image generating unit calculates a ratio for adjusting pixel values for each of the winter aerial image and the mask image, and generates the winter aerial image and each of the mask image based on the calculated ratio. weight can be assigned.

The aerial map generation unit may further include an aerial map generating unit generating an aerial map using a plurality of synthesized aerial images generated according to the aerial image processing method.

Meanwhile, the server according to an embodiment of the present invention for achieving the above object may store an aerial map generated using the above-described aerial image processing method.

Further, when route guidance is requested from a navigation device connected to the server, the server may generate route guidance information based on the stored aerial map and transmit the generated route guidance information to the navigation device.

Meanwhile, a navigation device according to an embodiment of the present invention for achieving the above object may perform route guidance based on an aerial map generated using the above-described aerial image processing method.

And, a computer readable recording medium according to an embodiment of the present invention for achieving the above object may store a program for executing the above-described aerial image processing method.

According to various embodiments of the present invention described above, a winter aerial image captured in the last winter season may be automatically corrected and used as an appropriate non-winter aerial image for a non-winter season. Accordingly, it is possible to exclude a manual process of synthesizing a green area on an aerial video in winter or a process of re-photographing an aerial video, thereby preventing enormous cost consumption.

In addition, according to various embodiments of the present invention described above, information and guidance with a sense of reality can be provided to the driver by providing a guide screen to the user using an aerial map suitable for each period.

1 is a block diagram illustrating an aerial image processing apparatus according to an embodiment of the present invention.
2 is a block diagram showing an aerial image processing apparatus according to an embodiment of the present invention in more detail.
3 is a flowchart illustrating an aerial image processing method of an aerial image processing apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating a process of generating a mask image of an aerial image processing apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a process of generating a synthesized aerial image by an aerial image processing apparatus according to an embodiment of the present invention.
6A to 6B are diagrams illustrating non-winter aerial images and winter aerial images according to an embodiment of the present invention.
7 is a diagram illustrating a second mask image according to an embodiment of the present invention.
8 is a diagram illustrating a synthesized aerial image according to an embodiment of the present invention.
9 is a block diagram illustrating a navigation device according to an embodiment of the present invention.
10 is a block diagram illustrating a server according to an embodiment of the present invention.
11A is a diagram showing a route guidance screen using an aerial map in winter according to an embodiment of the present invention, and FIG. 11B is a route guidance screen using an aerial map generated by an aerial image processing method according to an embodiment of the present invention. It is a drawing showing

The following merely illustrates the principles of the present invention. Therefore, those skilled in the art can invent various devices that embody the principles of the present invention and fall within the concept and scope of the present invention, even though not explicitly described or shown herein. In addition, all conditional terms and embodiments listed in this specification are, in principle, expressly intended only for the purpose of understanding the concept of the present invention, and should be understood not to be limited to such specifically listed embodiments and conditions. do.

In addition, it should be understood that all detailed descriptions reciting specific embodiments, as well as principles, aspects and embodiments of the present invention, are intended to encompass structural and functional equivalents of these matters. In addition, it should be understood that such equivalents include not only currently known equivalents but also equivalents developed in the future, that is, all devices invented to perform the same function regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing conceptual views of exemplary circuits embodying the principles of the present invention. Similarly, all flowcharts, state transition diagrams, pseudo code, etc., are meant to be tangibly represented on computer readable media and represent various processes performed by a computer or processor, whether or not the computer or processor is explicitly depicted. It should be.

The functions of various elements shown in the drawings including functional blocks represented by processors or similar concepts may be provided using dedicated hardware as well as hardware capable of executing software in conjunction with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of separate processors, some of which may be shared.

In addition, the explicit use of terms presented as processor, control, or similar concepts should not be construed as exclusively citing hardware capable of executing software, but without limitation, digital signal processor (DSP) hardware, ROM for storing software (ROM), random access memory (RAM) and non-volatile memory. Other hardware for the governor's use may also be included.

In the claims of this specification, components expressed as means for performing the functions described in the detailed description include, for example, a combination of circuit elements performing the functions or all types of software including firmware/microcode, etc. It is intended to include any method that performs the function of performing the function, combined with suitable circuitry for executing the software to perform the function. Since the invention defined by these claims combines the functions provided by the various enumerated means and is combined in the manner required by the claims, any means capable of providing such functions is equivalent to that discerned from this disclosure. should be understood as

The above objects, features and advantages will become more apparent through the following detailed description in conjunction with the accompanying drawings, and accordingly, those skilled in the art to which the present invention belongs can easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating an aerial image processing apparatus according to an embodiment of the present invention. 2 is a block diagram showing an aerial image processing apparatus according to an embodiment of the present invention in more detail.

1 and 2, the aerial image processing device 10 includes all or all of the image converter 11, mask image generator 12, synthesized aerial image generator 13, and aerial map generator 14. may contain some The mask image generator 12 may include all or part of the green area detector 15 , the first mask image generator 16 , and the second mask image generator 17 .

The aerial image processing apparatus 10 generates a mask image by detecting a green area in the non-winter aerial image, generates a synthesized aerial image by synthesizing the generated mask image and the winter aerial image, and generates a plurality of synthesized aerial images. You can use it to create aerial maps. Here, the aerial image processing device 10 may be implemented as an image processor provided in various electronic devices to process input images.

The image processing of the aerial image processing apparatus 10 may be performed by receiving winter aerial images and non-winter aerial images.

The winter aerial image is an image obtained by photographing the surface of the earth in the air on an aircraft during the winter season. For example, the winter season may be from December to February. In such a winter season, there are not many green areas such as mountains or forests, and accordingly, areas corresponding to green areas in winter aerial images may be expressed in a dark color close to black.

The non-winter aerial image is an image obtained by photographing the surface of the earth in the air on an aircraft during the non-winter period. For example, the non-winter period may be from March to November. In such non-winter period, there are many green areas such as mountains or forests, and therefore, areas corresponding to green areas in non-winter aerial images may be expressed in a color close to green.

Therefore, when the winter period passes and the non-winter period passes, conventionally, the green area is manually synthesized and used in the aerial image taken during the previous winter period, or the aerial image is re-photographed and used, resulting in a large cost There was a problem.

To solve this problem, the aerial image processing apparatus 10 according to an embodiment of the present invention may automatically perform image processing to synthesize a green area with an aerial image in winter. Specifically, the aerial image processing apparatus 10 may perform image processing to automatically correct a winter aerial image captured in winter to an appropriate non-winter aerial image in non-winter time.

Specifically, the image conversion unit 11 may convert non-winter aerial images into Hue Saturation Value (HSV) images. For example, the winter aerial image and the non-winter aerial image input to the aerial image processing device 10 may be RGB images defined in a red green blue color (RGB) color space. In this case, the image conversion unit 11 may redefine the color values of the non-winter aerial image by converting the RGB color space into another color space, for example, Hue Saturation Value (HSV) space.

In addition, the image conversion unit 11 may emphasize green areas included in the non-winter aerial images so that the green areas are further emphasized in the mask image to be generated based on the non-winter aerial images. Specifically, the image converter 11 may generate a non-winter aerial image in which green areas are emphasized by adjusting at least one pixel value among R (Red), G (Green), and B (Blue) in the non-winter aerial image. . For example, the image conversion unit 11 may increase a pixel value of G (Green) among R (Red), G (Green), and B (Blue) in a non-winter aerial image than pixel values of other colors.

However, the above-mentioned example is only one embodiment of the present invention, and the present invention is not limited thereto. For example, the input aerial image and the converted image may be implemented as images of other color spaces such as sRGB (super RGB), CMYK (cyan magenta yellow black), and HSB (hue saturation brightness). Hereinafter, for convenience of description, a case in which the input aerial image is an RGB image and the image converted by the image converter 11 is an HSV image will be described as an example.

The mask image generation unit 12 may generate a mask image by detecting a green area in a non-winter aerial image. The mask image generator 12 may include a green area detector 15 , a first mask image generator 16 , and a second mask image generator 17 .

The green area detector 15 may detect a green area based on a predetermined pixel value for each of the S (Saturation) channel image and the V (Value) channel image of the HSV image. Specifically, the green area detection unit 15 detects pixels having a first pixel value or more in the S (Saturation) channel image, detects pixels having a second pixel value or less in the V (Value) channel image, and detects the ends of the detected pixels ( AND) operation can be performed to detect the green area. For example, the green area detection unit 15 detects pixels having a gray level of 80 or more in the S (Saturation) channel image, detects pixels of gray level of 100 or less in the V (Value) channel image, and based on the detected pixels Green areas can be detected.

Also, the first mask image generating unit 16 may generate a first mask image using the detected green area. Here, the first mask image may be an image used to separate the green area from the non-winter aerial image and synthesize it into another image.

Also, the second mask image generation unit 17 may generate a second mask image by performing Gaussian filter processing on the first mask image. Here, the second mask image may be an image in which an edge is softened by applying a Gaussian filter to the first mask image.

Meanwhile, the synthesized aerial image generator 13 may generate a synthesized aerial image by synthesizing the mask image generated by the mask image generator 12 and the winter aerial image. Here, the mask image may be a first mask image generated by the first mask image generator 16 or a second mask image generated by the second mask image generator 17 .

In this case, the synthesized aerial image generating unit 13 may calculate a ratio for adjusting pixel values of the winter aerial image and each of the mask images generated by the mask image generating unit 12 . Then, the synthesized aerial image generator 13 may apply weights to each of the winter aerial image and the second mask image based on the calculated ratio and synthesize them.

For example, the synthesized aerial image generation unit 13 may generate a synthesized aerial image using Equation 1 below.

[Equation 1]

ratio = (c) / 128

(d) = (c) x ratio + (a) x (1 - ratio)

Here, ratio may be a ratio, a is a pixel value of a winter aerial image, c is a pixel value of a mask image, and d is a pixel value of a synthesized aerial image.

Meanwhile, the aerial map generation unit 14 may generate an aerial map using a plurality of synthesized aerial images generated according to an aerial image processing method. Specifically, the aerial map generating unit 14 may generate an aerial map by connecting each of a plurality of synthesized aerial images.

The aerial image processing method of the aerial image processing apparatus of FIGS. 1 and 2 will be described in more detail with reference to FIGS. 3 to 7 .

3 is a flowchart illustrating an aerial image processing method of an aerial image processing apparatus according to an embodiment of the present invention. Referring to FIG. 3 , first, the aerial image processing device 10 may receive winter aerial images and non-winter aerial images (S101). Here, winter aerial images and non-winter aerial images will be described in detail with reference to FIG. 6 .

6A is a winter aerial image according to an embodiment of the present invention, and FIG. 6B is a diagram showing a non-winter aerial image according to an embodiment of the present invention. Referring to FIG. 6A , since there are not many green areas in mountains or forests in the winter season, mountains or forests may appear dark in winter aerial images. However, referring to FIG. 6B , since there are many green areas such as mountains and forests in non-winter seasons, mountains and forests can be brightly expressed in green in non-winter aerial images.

Meanwhile, when a winter aerial image and a non-winter aerial image are input, the aerial image processing apparatus may generate a mask image by detecting a green area in the non-winter aerial image (S102). An operation of generating such a mask image will be described in detail with reference to FIG. 4 .

4 is a flowchart illustrating a process of generating a mask image of an aerial image processing apparatus according to an embodiment of the present invention. Referring to FIG. 4 , the aerial image processing apparatus 10 may adjust at least one pixel value among R (Red), G (Green), and B (Blue) to emphasize a green area in a non-winter aerial image ( S201).

Also, the aerial image processing apparatus 10 may convert the non-winter aerial image into an HSV image (S202). Specifically, the aerial image processing apparatus 10 may convert a non-synchronized aerial image corresponding to an RGB image into an HSV image by converting an RGB color space into an HSV space.

In addition, the aerial image processing apparatus 10 may detect a green area based on a predetermined pixel value for each of the S (Saturation) channel image and the V (Value) channel image of the HSV image (S203). Specifically, the aerial image processing apparatus 10 detects pixels having a first pixel value or more in the S (Saturation) channel image, detects pixels having a second pixel value or less in the V (Value) channel image, and detects the end of the detected pixels. (AND) operation can be performed to detect the green area.

Also, the aerial image processing apparatus 10 may generate a first mask image using the detected green area (S204).

The aerial image processing apparatus 10 may generate a second mask image by performing a Gaussian filter process on the first mask image (S205). Here, the second mask image may be an image in which an edge is softened by applying a Gaussian filter to the first mask image. This second mask image will be described in detail with reference to FIG. 7 .

7 is a diagram illustrating a second mask image according to an embodiment of the present invention. Referring to FIG. 7, the second mask image may include a green area (green portion in FIG. 7) and other areas (black portion in FIG. 7) detected in the non-winter aerial image shown in FIG. 6B. . Accordingly, the second mask image may be used to synthesize another image.

Meanwhile, following step S102 of FIG. 3 , the aerial image processing apparatus 10 may generate a synthesized aerial image by synthesizing the generated mask image and the winter aerial image (S103). A process of generating such a synthesized aerial image will be described in detail with reference to FIG. 5 .

5 is a flowchart illustrating a process of generating a synthesized aerial image by an aerial image processing apparatus according to an embodiment of the present invention. Referring to FIG. 5 , the aerial image processing apparatus may calculate a ratio for adjusting pixel values for each of the winter aerial image and the mask image (S301). Here, the ratio may be calculated for each pixel by dividing a pixel value of each of a plurality of pixels constituting the mask image by a specific value.

Then, the aerial image processing apparatus may apply weights to each of the winter aerial image and the mask image based on the calculated ratio and synthesize them (S302). A synthesized aerial image generated according to such an operation will be described in detail with reference to FIG. 8 .

8 is a diagram illustrating a synthesized aerial image according to an embodiment of the present invention. That is, FIG. 8 may be generated by synthesizing the mask image of FIG. 7 and the winter aerial image of FIG. 6A. Referring to FIG. 8 , the synthesized aerial image may include a green area, unlike the winter aerial image before synthesis shown in FIG. 6A .

Therefore, by using the image processing method of the present invention, it is possible to automatically correct and use a winter aerial image captured in the last winter season as an appropriate non-winter aerial image for a non-winter season. Accordingly, it is possible to exclude a manual process of synthesizing a green area on an aerial video in winter or a process of re-photographing an aerial video, thereby preventing enormous cost consumption.

9 is a block diagram illustrating a navigation device according to an embodiment of the present invention. Referring to FIG. 9 , the navigation device 100 includes a storage unit 110, an input unit 120, an output unit 130, a control unit 170, a communication unit 180, a sensing unit 190, and a power supply unit 195. include all or part of

Here, the navigation device 100 includes a smart phone, a tablet computer, a notebook computer, a personal digital assistant (PDA), a portable multimedia player (PMP), smart glasses, It may be implemented in various devices such as a project glass, a navigation device, a black-box, and the like, and may be provided in a vehicle.

The driving-related guidance may include various guidance to assist the driver's driving, such as route guidance, lane departure guidance, front vehicle departure guidance, traffic light change guidance, front vehicle collision avoidance guidance, lane change guidance, lane guidance, and the like.

Here, route guidance is augmented reality route guidance, 2D (2-Dimensional) or 3D (3-Dimensional), which performs route guidance by combining various information such as the location and direction of the user with an image of the front of the vehicle in motion. ) may include 2-Dimensional (2D) or 3-Dimensional (3D) route guidance that performs route guidance by combining various types of information such as the user's location and direction with map data.

In addition, route guidance may include air map route guidance in which route guidance is performed by combining air map data with various types of information such as a user's location and direction. Here, route guidance may be interpreted as a concept that includes route guidance not only when a user gets on a vehicle and drives, but also when a user moves by walking or running.

Further, the lane departure guidance may be guidance on whether or not the driving vehicle has departed from the lane.

In addition, the front vehicle departure guidance may be guidance on whether or not a vehicle positioned in front of a stopped vehicle is starting.

In addition, the traffic light change guidance may be guidance on whether or not a traffic light located in front of a stopped vehicle is changed. For example, when a red traffic light indicating a stop signal is turned on and changed to a blue traffic light indicating a start signal, this may be provided.

In addition, forward vehicle collision avoidance information may be provided to prevent a collision with a vehicle in front when a distance from a stopped or running vehicle to a vehicle located in front of the vehicle is within a predetermined distance.

Further, the lane change guidance may be guidance for changing from a lane where the vehicle is located to another lane for route guidance to a destination.

Further, the lane guidance may be guidance of a lane in which the vehicle is currently located.

A driving-related image, such as an image in front of the vehicle enabling the provision of various guidance, may be captured by a camera installed in the vehicle. Here, the camera may be a camera that is integrally formed with the navigation device 100 installed in the vehicle and photographs the front of the vehicle.

As another example, the camera may be a camera installed in a vehicle separately from the navigation device 100 and photographing the front of the vehicle. In this case, the camera may be a separate black box mounted toward the front of the vehicle, and the navigation device 100 receives a captured image through wired/wireless communication with the separately mounted black box, or captures an image of the black box. When a storage medium for storing is inserted into the navigation device 100, the navigation device 100 may receive a captured image as an input.

Hereinafter, based on the above description, the navigation device 100 according to an embodiment of the present invention will be described in more detail.

The storage unit 110 functions to store various data and applications necessary for the operation of the navigation device 100 . In particular, the storage unit 110 may store data necessary for the operation of the navigation device 100, for example, an OS, a route search application, and map data. Also, the storage unit 110 may store data generated by the operation of the navigation device 100, eg, searched route data, received images, and the like.

Also, the storage unit 110 may store an air map for air map route guidance. Here, the storage unit 110 may obtain and store the entire aerial map in advance. Alternatively, the storage unit 110 may receive and store the aerial map corresponding to the current location of the navigation device 100 from the server 200 in real time.

Such an aerial map may be a map generated based on the synthesized aerial images of FIGS. 1 to 8 described above. Specifically, the aerial map may be created by connecting a plurality of synthesized aerial images generated according to the processes of FIGS. 1 to 8 .

The storage unit 110 includes RAM (Random Access Memory), flash memory, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electronically Erasable and Programmable ROM), registers, hard disk, removable disk, and memory. It may be implemented as a built-in storage device such as a card, universal subscriber identity module (USIM), and the like, as well as a removable storage device such as a USB memory.

The input unit 120 functions to convert a physical input from the outside of the navigation device 100 into a specific electrical signal. Here, the input unit 120 may include all or part of the user input unit 121 and the microphone unit 123 .

The user input unit 121 may receive a user input such as a touch or push operation. Here, the user input unit 120 may be implemented using at least one of various button shapes, a touch sensor that receives a touch input, and a proximity sensor that receives an approaching motion.

The microphone unit 123 may receive a user's voice and sound generated inside and outside the vehicle.

The output unit 130 is a device that outputs data of the navigation device 100 . Here, the output unit 130 may include all or part of the display unit 131 and the audio output unit 133 .

The display unit 131 is a device that outputs data that can be visually recognized by the navigation device 100 . The display unit 131 may be implemented as a display unit provided on the front surface of the housing of the navigation device 100 . In addition, the display unit 131 is integrally formed with the navigation device 100 to output visual recognition data, and is installed separately from the navigation device 100 like a HUD (Head Up Display) to output visual recognition data You may.

The audio output unit 133 is a device that outputs data that can be audibly recognized by the navigation device 100 . The audio output unit 133 may be implemented as a speaker expressing sound of data to be notified to the user of the navigation device 100 .

The communication unit 180 may be provided for the navigation device 100 to communicate with other devices. The communication unit 180 includes all or part of the location data unit 181, the wireless Internet unit 183, the broadcast transmission/reception unit 185, the mobile communication unit 186, the short-distance communication unit 187, and the wired communication unit 189. can do.

The location data unit 181 is a device that acquires location data through GNSS (Global Navigation Satellite System). GNSS refers to a navigation system capable of calculating the location of a receiving terminal using radio signals received from artificial satellites. Specific examples of GNSS include GPS (Global Positioning System), Galileo, GLONASS (Global Orbiting Navigational Satellite System), COMPASS, IRNSS (Indian Regional Navigational Satellite System), QZSS (Quasi-Zenith Satellite System), etc. can The location data unit 181 of the navigation device 100 according to an embodiment of the present invention may obtain location data by receiving a GNSS signal serving in an area where the navigation device 100 is used.

The wireless Internet unit 183 is a device that obtains or transmits data by accessing the wireless Internet. The wireless Internet accessible through the wireless Internet unit 183 may be wireless LAN (WLAN), wireless broadband (Wibro), world interoperability for microwave access (Wimax), high speed downlink packet access (HSDPA), and the like.

The broadcast transceiver 185 is a device that transmits and receives broadcast signals through various broadcast systems. A broadcasting system capable of transmitting and receiving through the broadcast transceiver 185 includes Digital Multimedia Broadcasting Terrestrial (DMBT), Digital Multimedia Broadcasting Satellite (DMBS), Media Forward Link Only (MediaFLO), Digital Video Broadcast Handheld (DVBH), and ISDBT ( Integrated Services Digital Broadcast Terrestrial) and the like. Broadcast signals transmitted and received through the broadcast transmission/reception unit 185 may include traffic data, life data, and the like.

The mobile communication unit 186 may communicate by accessing a mobile communication network according to various mobile communication standards such as 3rd generation (3G), 3rd generation partnership project (3GPP), and long term evolution (LTE).

The short-distance communication unit 187 is a device for short-distance communication. As described above, the short-range communication unit 187 includes Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra WidBand (UWB), ZigBee, Near Field Communication (NFC), Wi It can communicate through -Fi (Wireless-Fidelity), etc.

The wired communication unit 189 is an interface device capable of connecting the navigation device 100 to other devices by wire. The wired communication unit 119 may be a USB module capable of communicating through a USB port.

The communication unit 180 includes at least one of the location data unit 181, the wireless Internet unit 183, the broadcast transceiver 185, the mobile communication unit 186, the short-distance communication unit 187, and the wired communication unit 189. You can use it to communicate with other devices.

For example, when the navigation device 100 does not include a camera function, an image captured by a vehicle camera such as a black box may be received using at least one of the short-range communication unit 187 and the wired communication unit 189.

As another example, in the case of communication with a plurality of devices, it is also possible to communicate with one of the short range communication units 187 and the other through the wired communication unit 119 .

The sensing unit 190 is a device capable of detecting the current state of the navigation device 100 . The sensing unit 190 may include all or part of the motion sensing unit 191 and the light sensing unit 193 .

The motion sensing unit 191 may detect movement of the navigation device 100 in a 3D space. The motion sensing unit 191 may include a 3-axis geomagnetic sensor and a 3-axis acceleration sensor. By combining motion data acquired through the motion sensing unit 191 with location data acquired through the location data unit 181, the trajectory of the vehicle to which the electronic device 100 is attached can be more accurately calculated.

The light sensing unit 193 is a device that measures ambient illumination of the electronic device 100 . The brightness of the display unit 131 may be changed to correspond to ambient brightness by using illuminance data acquired through the light sensing unit 193 .

The power supply unit 195 is a device that supplies power required for the operation of the electronic device 100 or the operation of other devices connected to the electronic device 100 . The power supply unit 195 may be a device that receives power from a battery built in the navigation device 100 or an external power source such as a vehicle. In addition, the power supply unit 195 may be implemented as a wired communication module 119 or a device that receives power wirelessly, depending on the type of power supply.

The controller 170 controls overall operations of the navigation device 100 . Specifically, the control unit 170 controls all or part of the storage unit 110, the input unit 120, the output unit 130, the control unit 170, the communication unit 180, the sensing unit 190, and the power supply unit 195. can do.

In particular, when destination information is input through the input unit 120, the controller 170 may control to perform route guidance to the destination using an air map previously stored in the storage unit 110.

Alternatively, when destination information is input through the input unit 120, the controller 170 may transmit a route guidance request including at least one of current location information and destination information to the server 200. Then, when route guidance information for guiding a route using an air map is received from the server 200 according to the route guidance request, the controller 170 uses the air map according to the received route guidance information to route to the destination. You can control to perform guidance. That is, the navigation device 100 may perform route guidance in real time in connection with the server 200 that stores the aerial map. The server 200 will be described in detail with reference to FIG. 10 .

10 is a block diagram illustrating a server according to an embodiment of the present invention. Referring to FIG. 10 , the server 200 may include all or part of a communication unit 210, a storage unit 220, and a control unit 230. Here, the server 200 may be implemented in various forms, such as a web server or a route guidance server that provides services (eg, location guidance service, route guidance service, etc.) using aerial maps to connected external devices.

The communication unit 210 may provide a communication function between the server 200 and an external device connected to the server 200 .

Here, the communication unit 210 is a type connected in a wireless or wired manner through a local area network (LAN) and an Internet network, a type connected through a USB (Universal Serial Bus) port, and a mobile communication network such as 3G and 4G It is possible to be connected through a form connected through a short-range wireless communication method such as NFC (Near Field Communication, RFID (Radio Frequency Identification), Wi-Fi, and the like.

The storage unit 220 may store an air map used for a location guidance service, a route guidance service, and the like. In particular, the storage unit 220 may store an aerial map mapped to location information such as latitude and longitude. This aerial map may be a map created by connecting the synthesized aerial images of FIGS. 1 to 8 described above.

Here, the storage unit 220 includes RAM (Random Access Memory), flash memory, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electronically Erasable and Programmable ROM), registers, hard disk, removable disk, and memory. It may be implemented as a built-in storage device such as a card or a removable storage device such as a USB memory.

This storage unit 220 may be implemented in the server 200, or may be implemented in the form of an external database (DB) connected to the server 200.

The controller 230 controls overall operations of the server 200 . Specifically, the control unit 230 may control all or part of the communication unit 210 and the storage unit 220 .

In particular, when a route guidance request including at least one of current location information and destination information is received from the navigation device 100, the control unit 230 provides route guidance using the received information and an aerial map stored in the storage unit 220. It is possible to generate route guidance information for Here, the route guidance information is information enabling route guidance to a destination using an air map, and may include an air map corresponding to a predetermined distance range from the current location of the navigation device, a route guidance object, and the like.

And, the controller 230 may transmit the generated route guidance information to the navigation device 100 . Accordingly, the navigation device 100 may perform route guidance to a destination through an air map using the received route guidance information. This will be described in detail with reference to FIG. 11 .

11A is a diagram showing a route guidance screen using an aerial map in winter, and FIG. 11B is a diagram showing a route guidance screen using an aerial map generated by an aerial image processing method according to an embodiment of the present invention.

Referring to FIG. 11A , since there are not many green areas in mountains or forests in the winter season, mountains or forests may be darkly displayed on a route guidance screen 1101 using an aerial map in winter.

However, referring to FIG. 11B, green area synthesis is performed on the aerial map generated by the above-described aerial image processing method, and mountains and forests are brightly displayed in green on the route guidance screen 1102 using the aerial map. can

According to the route guidance screen according to an embodiment of the present invention, a guidance screen is provided to the user using an air map suitable for each period, so that realistic information and guidance can be provided to the driver.

Meanwhile, the aerial image processing method according to various embodiments of the present disclosure described above may be implemented as a program and provided to servers or devices. Accordingly, each device may access a server or device in which the program is stored and download the program.

In addition, the aerial image processing method according to various embodiments of the present disclosure described above may be implemented as a program, stored in various non-transitory computer readable media, and provided. A non-transitory readable medium is not a medium that stores data for a short moment, such as a register, cache, or memory, but a medium that stores data semi-permanently and can be read by a device. Specifically, the various applications or programs described above may be stored and provided in non-transitory readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those skilled in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

10: aerial image processing device 11: image conversion unit
12: mask image generation unit 13: synthetic aerial image generation unit
14: aerial map generation unit 15: green area detection unit
16: first mask image generator 17: second mask image generator
100: navigation device 110: storage unit
120: input unit 130: output unit
170: control unit 180: communication unit
190: sensing unit 195: power unit
200: server 210: communication unit
220: storage unit 230: control unit

Claims (14)

In the aerial image processing method,
Receiving winter aerial images and non-winter aerial images as input;
generating a mask image by detecting a green area in the non-winter aerial image; and
Generating a synthesized aerial image by synthesizing the generated mask image and the winter aerial image;
Generating the mask image,
generating a first mask image using the detected green area; and
Generating a second mask image by applying a predetermined filter for edge processing to the first mask image to soften the edge,
Generating the synthesized aerial image,
synthesizing the second mask image and the winter aerial image to generate a synthesized aerial image;
The aerial image processing method further comprising generating an aerial map by connecting a plurality of synthesized aerial images. According to claim 1,
Generating the mask image,
converting the non-winter aerial image into a Hue Saturation Value (HSV) image; and
The aerial image processing method further comprising: detecting a green area based on a predetermined pixel value for each of the S (Saturation) channel image and the V (Value) channel image of the HSV image. According to claim 2,
The conversion step is
generating a non-winter aerial image in which the green area is emphasized by adjusting at least one pixel value among R (Red), G (Green), and B (Blue) in the non-winter aerial image; and
and converting the non-winter aerial image in which the green area is emphasized into a Hue Saturation Value (HSV) image. According to claim 1,
Generating the synthesized aerial image,
Calculating a ratio for adjusting pixel values for each of the winter aerial image and the second mask image; and
and combining the winter aerial image and the second mask image with weights based on the calculated ratio. delete An aerial image processing apparatus for processing aerial images using winter aerial images and non-winter aerial images,
a mask image generating unit generating a mask image by detecting a green area in the non-winter aerial image; and
A synthesized aerial image generating unit generating a synthesized aerial image by synthesizing the generated mask image and the winter aerial image;
The mask image generator,
a first mask image generating unit generating a first mask image using the detected green area; and
A second mask image generation unit configured to generate a second mask image in which an edge is softened by applying a predetermined filter for edge processing to the first mask image,
The synthesized aerial image generation unit,
synthesizing the second mask image and the winter aerial image to generate a synthesized aerial image;
The aerial image processing apparatus further comprising: an aerial map generator for generating an aerial map by connecting a plurality of synthesized aerial images. According to claim 6,
An image conversion unit for converting non-winter aerial images into Hue Saturation Value (HSV) images;
The mask image generator,
The aerial image processing apparatus further comprises a green area detection unit for detecting a green area based on a predetermined pixel value for each of the S (Saturation) channel image and the V (Value) channel image of the HSV image. According to claim 7,
The video conversion unit,
A non-winter aerial image in which the green area is emphasized is generated by adjusting a pixel value of at least one of R (Red), G (Green), and B (Blue) in the non-winter aerial image, and non-winter aerial image in which the green area is emphasized An aerial image processing device characterized by converting an image into a Hue Saturation Value (HSV) image. According to claim 6,
The synthesized aerial image generation unit,
For each of the winter aerial image and the second mask image, a ratio for adjusting pixel values is calculated, and based on the calculated ratio, a weight is applied to each of the winter aerial image and the second mask image to synthesize the image. Aerial image processing device, characterized in that for doing. delete A server for storing an aerial map generated using the aerial image processing method according to any one of claims 1 to 4. According to claim 11,
When route guidance is requested from a navigation device connected to the server,
The server generates route guidance information based on the stored aerial map and transmits the generated route guidance information to the navigation device. A navigation device that performs route guidance based on an aerial map created using the aerial image processing method according to any one of claims 1 to 4. A computer readable recording medium storing a program for executing the aerial image processing method according to any one of claims 1 to 4.

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