CN101893443A - The Making System of Road Digital Orthophoto Map - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及的是一种测绘技术领域的系统，具体是一种道路数字正射影像地图的制作系统。The invention relates to a system in the technical field of surveying and mapping, in particular to a system for making road digital orthophoto maps.
背景技术Background technique
影像地图是一种带有地面遥感影像的地图，大多利用航空像片或卫星遥感影像，通过几何纠正、投影变换和比例尺归化，运用一定的地图符号、注记，直接反映制图对象地理特征及空间分布的地图。在数字化信息化的今天，数字化的地理信息已成为城市乃至整个国家在宏观决策和规划管理中必不可少的支撑条件。Image map is a kind of map with ground remote sensing images. Most of them use aerial photos or satellite remote sensing images, through geometric correction, projection transformation and scale naturalization, and use certain map symbols and annotations to directly reflect the geographical characteristics and characteristics of mapping objects. Spatial distribution map. In today's era of digitalization and informationization, digital geographic information has become an indispensable support condition for cities and even the whole country in macro-decision-making and planning management.
数字正射影像技术利用了计算机图像处理、模式识别等技术，通过逼真的影响、丰富的色彩客观反映地表现状，与传统影像地图和线划地图相比有着信息丰富、地物直观、工作效率高、成图周期短等特点，在洪水检测、河流变迁、旱情检测、农业估产、土地覆盖与土地利用资源监测、荒漠化监测、森林监测、海岸线保护以及生物变化监测上有许多应用。Digital orthophoto technology uses computer image processing, pattern recognition and other technologies to objectively reflect the performance of the ground through realistic effects and rich colors. Compared with traditional image maps and line maps, it has rich information, intuitive ground features, and high work efficiency. It has many applications in flood detection, river change, drought detection, agricultural yield estimation, land cover and land use resource monitoring, desertification monitoring, forest monitoring, coastline protection and biological change monitoring.
从现有技术文献的检索发现：目前随着智能交通概念的兴起和下一代GPS导航系统的发展，GPS地图数据厂家与其终端用户需要更为全面的道路交通信息。如今公知的数字正射影像地图主要是采用航空相片或者采用高分辨率卫星遥感图像数据来获得地图信息。它们虽然能够为人们展现了城市道路的情况。但是存在如下问题：From the retrieval of prior art documents, it is found that with the rise of the concept of intelligent transportation and the development of the next-generation GPS navigation system, GPS map data manufacturers and their end users need more comprehensive road traffic information. Today's well-known digital orthophoto maps mainly use aerial photos or high-resolution satellite remote sensing image data to obtain map information. Although they can show the situation of urban roads for people. But there are the following problems:
1.鲜度低：由于航空与卫星的离地距离过远，使得传统的影像地图无法分辨道路中诸如人行道、转弯标记、护栏等标记。1. Low freshness: Due to the distance between aviation and satellites, traditional image maps cannot distinguish road marks such as sidewalks, turning marks, and guardrails.
2.成本高：卫星与航天设备成本过高，不易于数字影像地图的发展和推广。2. High cost: The cost of satellite and aerospace equipment is too high, which makes it difficult to develop and promote digital image maps.
3.不易获取：由于卫星与航天拍摄涉及公共安全、国防等诸多限制，使得数字影像地图的获取非常困难，难以民用化。3. Difficult to obtain: Because satellite and aerospace photography involve many restrictions such as public safety and national defense, it is very difficult to obtain digital image maps and it is difficult to use them for civilian use.
发明内容Contents of the invention
本发明的目的在于克服现有技术存在的上述不足，提供一种道路数字正射影像地图的制作系统。本发明通过将车作为地图数据采集的载体，解决了原有技术高成本、低鲜度、不易获取的问题，从而使得道路影像地图有了更广阔的应用范围。The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and provide a system for making road digital orthophoto maps. The invention solves the problems of high cost, low freshness and difficult acquisition in the prior art by using the car as a carrier for map data collection, thereby making the road image map have a wider application range.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
本发明包括：车载传感模块、数据融合模块和图像处理模块，其中：车载传感模块与数据融合模块相连传输车体定位信息，图像处理模块与车载传感模块相连传输道路信息，数据融合模块与图像处理模块相连传输车体的实时定位信息，图像处理模块输出道路数字正射影像地图。The invention includes: a vehicle-mounted sensing module, a data fusion module and an image processing module, wherein: the vehicle-mounted sensing module is connected to the data fusion module to transmit vehicle body positioning information, the image processing module is connected to the vehicle-mounted sensing module to transmit road information, and the data fusion module It is connected with the image processing module to transmit the real-time positioning information of the car body, and the image processing module outputs the road digital orthophoto map.
所述的车载传感模块采集道路信息和车体定位信息，包括：载车、摄像器件、转角速度采集器、载波相位全球定位系统和激光雷达，其中：摄像器件设置在载车外的前车灯周围，转角速度采集器设置在载车的底部，载波相位全球定位系统设置在载车外的顶部，激光雷达设置在载体外的最前端，摄像器件与图像处理模块相连传输道路图像信息，激光雷达与图像处理模块相连传输道路平整信息，载波相位全球定位系统与数据融合模块相连传输载车的车体定位信息，转角速度采集器与数据融合模块相连传输载车实时的舵机转角和速度信息。The vehicle-mounted sensing module collects road information and vehicle body positioning information, including: a vehicle, an imaging device, a corner speed collector, a carrier phase global positioning system and a laser radar, wherein: the imaging device is arranged on the front vehicle outside the vehicle Around the lights, the angular velocity collector is installed at the bottom of the vehicle, the carrier phase global positioning system is installed on the top outside the vehicle, the laser radar is installed at the front outside the vehicle, the camera device is connected with the image processing module to transmit road image information, and the laser The radar is connected to the image processing module to transmit road leveling information, the carrier phase global positioning system is connected to the data fusion module to transmit the vehicle body positioning information, and the corner speed collector is connected to the data fusion module to transmit the real-time steering gear rotation angle and speed information of the vehicle .
所述的转角速度采集器是两个旋转编码器或者是惯性导航系统。The rotational angular velocity collector is two rotary encoders or an inertial navigation system.
所述的数据融合模块处理车辆定位信息，包括：航位推算子模块、卡尔曼滤波子模块和插值子模块，其中：航位推算子模块与车载传感器模块相连传输载车实时的舵机转角和速度信息，卡尔曼滤波子模块与车载传感器模块相连传输载车的车体定位信息，航位推算子模块与卡尔曼滤波子模块相连传输车体实时的位姿信息，卡尔曼滤波子模块与插值子模块相连传输车体的实时位姿信息，插值子模块与图像处理模块相连传输车体的实时定位信息。The data fusion module processes vehicle positioning information, including: a dead reckoning sub-module, a Kalman filter sub-module and an interpolation sub-module, wherein: the dead reckoning sub-module is connected with the on-board sensor module to transmit the real-time steering gear rotation angle and For speed information, the Kalman filter sub-module is connected to the on-board sensor module to transmit the vehicle body positioning information, the dead reckoning sub-module is connected to the Kalman filter sub-module to transmit the real-time pose information of the vehicle body, and the Kalman filter sub-module is connected to the interpolation The sub-modules are connected to transmit the real-time pose information of the vehicle body, and the interpolation sub-module is connected to the image processing module to transmit the real-time positioning information of the vehicle body.
所述的图像处理模块包括：逆透视变换子模块、全局坐标变换子模块和地图拼接子模块，其中：逆透视变换子模块与车载传感器模块相连传输道路图像信息和道路平整信息，全局坐标变换子模块与数据融合模块相连传输车体的实时定位信息，全局坐标变换子模块与逆透视变换子模块相连传输去除道路中凸起物后的实时路面俯视图，地图拼接子模块与全局坐标变换子模块相连传输含位姿信息的实时路面俯视图，地图拼接子模块输出道路数字正射影像地图。The image processing module includes: an inverse perspective transformation submodule, a global coordinate transformation submodule and a map splicing submodule, wherein: the inverse perspective transformation submodule is connected with the vehicle-mounted sensor module to transmit road image information and road leveling information, and the global coordinate transformation submodule The module is connected with the data fusion module to transmit the real-time positioning information of the car body, the global coordinate transformation submodule is connected with the inverse perspective transformation submodule to transmit the real-time top view of the road surface after removing the protrusions in the road, and the map stitching submodule is connected with the global coordinate transformation submodule The real-time road top view with pose information is transmitted, and the map stitching sub-module outputs the digital orthophoto map of the road.
所述的地图拼接子模块包括：稳健回归估计单元、提取标志信息单元和逐点加权平均单元，其中：稳健回归单元与全局坐标变换子模块相连传输含位姿信息的实时路面俯视图，提取标志信息单元与稳健回归估计单元相连传输整理后的实时路面俯视图，逐点加权单元与提取标志信息单元相连传输含区分路面标志信息的实时路面俯视图，逐点加权平均单元输出道路数字正射影像地图。The map splicing submodule includes: a robust regression estimation unit, a sign information extraction unit and a point-by-point weighted average unit, wherein: the robust regression unit is connected with the global coordinate transformation submodule to transmit a real-time road top view containing pose information to extract sign information The unit is connected to the robust regression estimation unit to transmit the sorted real-time road top view, the point-by-point weighting unit is connected to the extraction sign information unit to transmit the real-time road top view including distinguishing road sign information, and the point-by-point weighted average unit outputs the road digital orthophoto map.
与现有技术相比，本发明的有益效果是：大幅提高了道路数字影像地图的鲜度，降低了数字影像地图采集的成本，解除了道路数字影像地图制作的安全限制，将数字影像地图制作民用化，使得更多的企业可以有选择的制作符合自己要求的数字影像地图。Compared with the prior art, the beneficial effects of the present invention are: the freshness of the road digital image map is greatly improved, the cost of digital image map collection is reduced, the safety restriction of road digital image map production is lifted, and the digital image map production Civilization enables more enterprises to selectively produce digital image maps that meet their own requirements.
附图说明Description of drawings
图1是本发明系统结构示意图。Fig. 1 is a schematic diagram of the system structure of the present invention.
图2是车载传感器模块的俯视结构示意图；Fig. 2 is a top view structural schematic diagram of a vehicle-mounted sensor module;
其中：1-左摄像头，2-右摄像头，3-激光雷达，4-前轮旋转编码器，5-后轮旋转编码器，6-载波相位全球定位系统。Among them: 1-left camera, 2-right camera, 3-lidar, 4-front wheel rotary encoder, 5-rear wheel rotary encoder, 6-carrier phase global positioning system.
图3是车载传感器模块的侧视结构示意图。Fig. 3 is a side view structural schematic diagram of the vehicle sensor module.
具体实施方式Detailed ways
以下结合附图对本发明的系统进一步描述：本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The system of the present invention is further described below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following Example.
实施例Example
如图1所示，本实施例包括：车载传感模块、数据融合模块和图像处理模块，其中：车载传感模块与数据融合模块相连传输车体定位信息，图像处理模块与车载传感模块相连传输道路信息，数据融合模块与图像处理模块相连传输车体的实时定位信息，图像处理模块输出道路数字正射影像地图。As shown in Figure 1, this embodiment includes: a vehicle-mounted sensing module, a data fusion module and an image processing module, wherein: the vehicle-mounted sensing module is connected to the data fusion module to transmit vehicle body positioning information, and the image processing module is connected to the vehicle-mounted sensing module The road information is transmitted, the data fusion module is connected with the image processing module to transmit the real-time positioning information of the car body, and the image processing module outputs the digital orthophoto map of the road.
如图2和图3所示，所述的车载传感模块采集道路信息和车体定位信息，包括：载车、摄像器件、转角速度采集器、载波相位全球定位系统6和激光雷达3，其中：摄像器件设置在载车外的前车灯周围，转角速度采集器设置在载车的底部，载波相位全球定位系统6设置在载车外的顶部，激光雷达3设置在载体外的最前端，摄像器件与图像处理模块相连传输道路图像信息，激光雷达3与图像处理模块相连传输道路平整信息，载波相位全球定位系统6与数据融合模块相连传输载车的车体定位信息，转角速度采集器与数据融合模块相连传输载车实时的舵机转角和速度信息。As shown in Figures 2 and 3, the vehicle-mounted sensing module collects road information and vehicle body positioning information, including: vehicle-mounted, camera device, rotational angular velocity collector, carrier phase global positioning system 6 and laser radar 3, wherein : the camera device is arranged around the headlights outside the vehicle, the angular velocity collector is arranged at the bottom of the vehicle, the carrier phase global positioning system 6 is arranged on the top outside the vehicle, and the laser radar 3 is arranged at the front end outside the vehicle. The camera device is connected to the image processing module to transmit road image information, the laser radar 3 is connected to the image processing module to transmit road leveling information, the carrier phase global positioning system 6 is connected to the data fusion module to transmit vehicle body positioning information, and the angular velocity collector and The data fusion module is connected to transmit the real-time steering gear angle and speed information of the vehicle.
所述的载车为市场上购买的普通面包车，车速控制在每小时100公里内。Described car-carrying is the common van of buying on the market, and the speed of a vehicle is controlled in 100 kilometers per hour.
所述的摄像器件包括：左摄像头1和右摄像头2，其中：左摄像头1设置在载车的左前车灯周围，右摄像头2设置在载车的右前车灯周围，左摄像头1和右摄像头2分别与图像处理模块相连传输道路图像信息。Described imaging device comprises: left camera 1 and right camera 2, wherein: left camera 1 is arranged on the left front headlight of carrying car, and right camera 2 is arranged on the right front light of carrying car around, and left camera 1 and right camera 2 They are respectively connected with image processing modules to transmit road image information.
本实施例中左摄像头1和右摄像头2的分辨率都为320*240，有效视野覆盖距离8米，有效覆盖范围为载车所在车道左右各1根车道(共3根车道)，图像帧率为每秒15幅。In this embodiment, the resolutions of the left camera 1 and the right camera 2 are both 320*240, and the effective field of view coverage distance is 8 meters. 15 frames per second.
所述的转角速度采集器包括：前轮旋转编码器4和后轮旋转编码器5，其中：前轮旋转编码器4设置在载车的前轮轴上且与车内转向部分和动力部分相连，后轮旋转编码器5设置在载车的后轮轮轴上且与车内转向部分和动力部分相连，前轮旋转编码器4和后轮旋转编码器5分别与数据融合模块相连传输载车实时的舵机转角和速度信息。Described angular velocity collector comprises: front wheel rotary encoder 4 and rear wheel rotary encoder 5, wherein: front wheel rotary encoder 4 is arranged on the front axle of vehicle and is connected with steering part and power part in the car, The rear wheel rotary encoder 5 is arranged on the rear wheel axle of the vehicle and is connected with the steering part and the power part in the vehicle, and the front wheel rotary encoder 4 and the rear wheel rotary encoder 5 are respectively connected with the data fusion module to transmit real-time Servo angle and speed information.
本实施例中前轮旋转编码器4和后轮旋转编码器5的精度都是2500线。In this embodiment, the precision of the front wheel rotary encoder 4 and the rear wheel rotary encoder 5 is 2500 lines.
本实施例中的激光雷达3为单线激光雷达3。The laser radar 3 in this embodiment is a single-line laser radar 3 .
所述的载波相位全球定位系统6的数据频率为5赫兹，定位精度为2厘米。The data frequency of the carrier phase global positioning system 6 is 5 Hz, and the positioning accuracy is 2 cm.
所述的数据融合模块处理车辆定位信息，包括：航位推算子模块、卡尔曼滤波子模块和插值子模块，其中：航位推算子模块分别与前轮旋转编码器4和后轮旋转编码器5相连传输载车实时的舵机转角和速度信息，卡尔曼滤波子模块与载波相位全球定位系统6相连传输载车的车体定位信息，航位推算子模块与卡尔曼滤波子模块相连传输车体实时的位姿信息，卡尔曼滤波子模块与插值子模块相连传输车体的实时位姿信息，插值子模块与图像处理模块相连传输车体的实时定位信息。Described data fusion module processes vehicle positioning information, comprises: dead reckoning submodule, Kalman filtering submodule and interpolation submodule, wherein: dead reckoning submodule is connected with front wheel rotary encoder 4 and rear wheel rotary encoder respectively 5 connected to transmit the real-time steering gear angle and speed information of the vehicle, the Kalman filter sub-module is connected to the carrier phase global positioning system 6 to transmit the vehicle body positioning information of the vehicle, and the dead reckoning sub-module is connected to the Kalman filter sub-module to transmit the vehicle The real-time pose information of the body, the Kalman filter sub-module is connected with the interpolation sub-module to transmit the real-time pose information of the vehicle body, and the interpolation sub-module is connected with the image processing module to transmit the real-time positioning information of the vehicle body.
所述的航位推算子模块利用前轮旋转编码器4和后轮旋转编码器5获得车体的舵机转角和速度信息，从而推算车体的位姿，其特点是数据平滑但有无法消除的累积误差。The dead reckoning sub-module uses the front wheel rotary encoder 4 and the rear wheel rotary encoder 5 to obtain the steering gear angle and speed information of the car body, thereby calculating the pose of the car body, which is characterized by smooth data but cannot be eliminated. cumulative error.
所述的卡尔曼滤波子模块在载波相位全球定位系统6高精度的定位信息下融合了航位推算信息，从而获得了高精度的车辆朝向信息。The Kalman filter sub-module is fused with the dead reckoning information under the high-precision positioning information of the carrier phase global positioning system 6, thereby obtaining high-precision vehicle orientation information.
所述的插值子模块将卡尔曼滤波子模块与航位推算子模块之间的误差进行分摊，同时利用航位推算数据变化连续、数据密集和卡尔曼滤波子模块定位精确的特点，获得更加密集、平滑、准确的定位信息。The interpolation sub-module apportions the error between the Kalman filter sub-module and the dead reckoning sub-module, and at the same time utilizes the features of continuous dead reckoning data change, dense data and accurate positioning of the Kalman filter sub-module to obtain more intensive , smooth and accurate positioning information.
所述的图像处理模块包括：逆透视变换子模块、全局坐标变换子模块和地图拼接子模块，其中：逆透视变换子模块分别与左摄像头1和右摄像头2相连传输道路图像信息，逆透视变换子模块与激光雷达3相连传输道路平整信息，全局坐标变换子模块与插值子模块相连传输车体的实时定位信息，全局坐标变换子模块与逆透视变换子模块相连传输去除道路中凸起物后的实时路面俯视图，地图拼接子模块与全局坐标变换子模块相连传输含位姿信息的实时路面俯视图，地图拼接子模块输出道路数字正射影像地图。The image processing module includes: an inverse perspective transformation submodule, a global coordinate transformation submodule and a map splicing submodule, wherein: the inverse perspective transformation submodule is connected with the left camera 1 and the right camera 2 respectively to transmit road image information, and the inverse perspective transformation The sub-module is connected to the laser radar 3 to transmit road leveling information, the global coordinate transformation sub-module is connected to the interpolation sub-module to transmit the real-time positioning information of the car body, and the global coordinate transformation sub-module is connected to the inverse perspective transformation sub-module to transmit after removing the protrusions in the road The real-time road top view, the map stitching sub-module is connected with the global coordinate transformation sub-module to transmit the real-time road top view including pose information, and the map stitching sub-module outputs the road digital orthophoto map.
所述的逆透视变换子模块利用事先采集的摄像头标定数据将实时路面斜视图转变为俯视图，并利用激光雷达3测得的道路平整信息去除道路中明显的凸起物(例如围栏)所产生的图像，具体工作过程为：在地平面利用皮尺等工具建立精确坐标系，然后通过地面上若干点的位置和它们在图像中，即摄像机平面中的位置建立方程组，最后求解出八个参数，利用这八个参数所组成的方程组可以将地平面中任意点的坐标与摄像机平面中任意点的坐标进行转换；在转换之后利用激光雷达3探测道路上方是否有明显的突起物，在图像中去除凸起物与其后方的所有图像。The inverse perspective transformation sub-module converts the real-time oblique view of the road surface into a top view by using the camera calibration data collected in advance, and uses the road leveling information measured by the laser radar 3 to remove the obvious protrusions (such as fences) in the road. Image, the specific working process is: establish an accurate coordinate system on the ground plane using tools such as a tape measure, and then establish a system of equations through the positions of several points on the ground and their positions in the image, that is, the camera plane, and finally solve eight parameters. Using the equations composed of these eight parameters, the coordinates of any point in the ground plane can be converted to the coordinates of any point in the camera plane; after conversion, use LiDAR 3 to detect whether there are obvious protrusions above the road, in the image Remove the bump and all images behind it.
所述的全局坐标变换子模块数据融合模块输出的最终定位信息，以及激光雷达3、左摄像头1和右摄像头2在载车上的安装位置，对每一幅俯视图做缩放、平移和旋转的操作，逐点粘贴于全局地图上，粘贴尺寸可以任意选择，从而为每一幅逆透视变化完毕的道路俯视图像确定在全局地图中的位姿。The final positioning information output by the global coordinate transformation sub-module data fusion module, as well as the installation positions of the laser radar 3, the left camera 1 and the right camera 2 on the vehicle, perform zooming, translation and rotation operations on each top view , paste on the global map point by point, and the pasting size can be selected arbitrarily, so that the pose in the global map can be determined for each road top view image that has undergone inverse perspective changes.
所述的地图拼接子模块包括：稳健回归估计单元、提取标志信息单元和逐点加权平均单元，其中：稳健回归单元与全局坐标变换子模块相连传输含位姿信息的实时路面俯视图，提取标志信息单元与稳健回归估计单元相连传输整理后的实时路面俯视图，逐点加权单元与提取标志信息单元相连传输含区分路面标志信息的实时路面俯视图，逐点加权平均单元输出道路数字正射影像地图。The map splicing submodule includes: a robust regression estimation unit, a sign information extraction unit and a point-by-point weighted average unit, wherein: the robust regression unit is connected with the global coordinate transformation submodule to transmit a real-time road top view containing pose information to extract sign information The unit is connected to the robust regression estimation unit to transmit the sorted real-time road top view, the point-by-point weighting unit is connected to the extraction sign information unit to transmit the real-time road top view including distinguishing road sign information, and the point-by-point weighted average unit outputs the road digital orthophoto map.
本实施例中地图拼接子模块的工作过程为：首先采用稳健回归估计对每一幅俯视图去噪声，然后利用HSV(一种色彩空间)色彩识别提取道路中的黄白两色(即常见道路标志的颜色)的点，并根据每一点离对应摄像头的距离和近大远小的原则逐点赋权，最后综合色彩提取结果和权重进行地图拼接。本实施例在全局地图制作的同时即将它分块，块分辨率为1000*1000，分块后利用二维数组查询。The working process of the map mosaic sub-module in this embodiment is as follows: firstly adopt robust regression estimation to denoise each top view, and then use HSV (a kind of color space) color recognition to extract the yellow and white colors in the road (that is, the common road signs) Color) points, and according to the distance of each point from the corresponding camera and the principle of nearness, distance, and distance, point-by-point weighting, and finally the color extraction results and weights are combined for map stitching. In this embodiment, the global map is divided into blocks at the same time as it is produced, and the block resolution is 1000*1000. After the block is divided, the two-dimensional array is used for query.
本实施例的工作过程：摄像头采集道路图像信息，激光雷达3采集道路平整信息，利用逆透视变换获得实时道路正射俯视图像并去除明显凸起物带来的干扰。旋转编码器与载波相位全球定位系统6采集车辆定位信息。利用航位推算、卡尔曼滤波和插值处理将编码器信息和载波相位全球定位系统6信息进行融合获得最终定位信息。利用每一时刻的最终定位信息将对应的道路正射俯视图像转化到全局地图中，利用地图拼接处理重叠部分的信息。最后将全局地图分块存储、调用。The working process of this embodiment: the camera collects road image information, the laser radar 3 collects road leveling information, uses inverse perspective transformation to obtain real-time road orthographic overhead images and removes the interference caused by obvious protrusions. The rotary encoder and the carrier phase global positioning system 6 collect vehicle positioning information. Using dead reckoning, Kalman filtering and interpolation processing, the encoder information and carrier phase GPS 6 information are fused to obtain the final positioning information. The final positioning information at each moment is used to convert the corresponding road orthotopic image into the global map, and the overlapping information is processed by map stitching. Finally, the global map is stored and called in blocks.
本实施例将汽车作为数字影像地图采集的载体。利用车辆成本低、离地面较近、不受安全限制的优点弥补了原有技术的不足，使得包括GPS数据厂商在内的许多企业可以自由获得高鲜度、低成本的道路数字影像地图，从而利于数字影像地图的民用化，大大拓展了其使用前景。In this embodiment, the automobile is used as a carrier for digital image map collection. Using the advantages of low vehicle cost, close to the ground, and no safety restrictions to make up for the shortcomings of the original technology, many companies, including GPS data manufacturers, can freely obtain high-quality, low-cost road digital image maps, thereby It is beneficial to the civilian use of digital image maps and greatly expands its application prospects.
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