CN103971392A - Navigation-oriented three-dimensional video data processing method and device, system and terminal - Google Patents
Navigation-oriented three-dimensional video data processing method and device, system and terminal Download PDFInfo
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- CN103971392A CN103971392A CN201310039230.4A CN201310039230A CN103971392A CN 103971392 A CN103971392 A CN 103971392A CN 201310039230 A CN201310039230 A CN 201310039230A CN 103971392 A CN103971392 A CN 103971392A
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Abstract
The invention is applicable to the field of automobile navigation, and provides a navigation-oriented three-dimensional video data processing method and device, a system and a terminal. The method includes the steps: according to an extracted road object, searching a three-dimensional model of the road object; by the aid of a scene rendering view angle set computed according to the three-dimensional model of the road object, rendering and drawing the three-dimensional model to generate three-dimensional scene video; relating the road object, the three-dimensional scene video and the scene rendering view angle set to generate navigation-oriented three-dimensional scene video. Real-time travel information of an automobile and pre-generated three-dimensional scene video are superposed to provide effective three-dimensional navigation information to a user, the requirement on hardware is lowered, data storage is reduced, and practicality of data is improved.
Description
Technical field
The present invention is applicable to auto navigation field, relates in particular to towards three dimensional video data disposal route method, device, system and the terminal of navigation.
Background technology
How under complex scene, better vehicle to be guided is the hot issue in navigation field always.Particularly cloverleaf Junction, the spatial relationship between each sub-crossing is intricate, only uses 2-D data to guide the erroneous judgement that usually causes driver.Complicated relation is represented with three-dimensional form, can help user promptly position and judge.
At present, map of navigation electronic field mainly adopts following several method to carry out three-dimensional navigation:
(1) three dimensional pattern diagram technology: one of this utilization in advance generated static intersection scene picture is helped user's position and orientation.Its advantage is low to hardware requirement.But three dimensional pattern figure is static picture, it can not with real-time vehicle running information fusion, more spatial relationship information can not be provided.Therefore for complicated scene, this technology can only help within limits to user.
(2) the real-time three-dimensional Rendering based on three-dimensional model: this technology is submitted to three-dimensional modeling data in graphic process unit (Graphics Processing Unit, GPU) pipeline and plays up.Its advantage is that interactively browsing can be provided, and display effect is better.But this technology all has higher requirements to model modeling and hardware.And in the time that vehicle is advanced, the not free three-dimensional model of appreciating outside path of navigation of driver, model data is impracticable, and memory data output is larger.
(3) the real-time three-dimensional Rendering based on full-view image: this technology provides three-dimensional localization and directed information by field data acquisition full-view image being transferred to GPU play up for user.Its advantage is consistent with real scene, abundant information.But details is more in full-view image, be unfavorable for that driver extracts useful information at short notice.In the time of data acquisition, the visual angle of panoramic camera is generally lower, and the macroscopic information of environment of living in can not be provided for user.And this Technology Need GPU support, hardware condition is higher.
Summary of the invention
The embodiment of the present invention provides a kind of three dimensional video data generation method towards navigation, is intended to solve existing navigational system hardware condition and has relatively high expectations, the problem that data are impracticable and memory space is large.
The embodiment of the present invention is achieved in that a kind of three dimensional video data generation method towards navigation, and described method comprises the steps:
According to the road object extracting, search the three-dimensional model of described road object;
Utilize the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, described three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
By described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
The embodiment of the present invention also provides a kind of three dimensional video data generating apparatus towards navigation, and described device comprises:
Road object three-dimensional model is searched unit, for according to the road object extracting, searches the three-dimensional model of described road object;
Three-dimensional scenic video configuration unit, for utilizing the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, carries out color applying drawing to described three-dimensional model, generating three-dimensional scene video; And
Towards the three-dimensional scenic video configuration unit of navigation, for by described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
The embodiment of the present invention also provides a kind of auto-navigation system, and described auto-navigation system comprises the above-mentioned three dimensional video data generating apparatus towards navigation.
The embodiment of the present invention also provides a kind of car navigation terminal, and described car navigation terminal comprises the above-mentioned three dimensional video data generating apparatus towards navigation.
The embodiment of the present invention also provides a kind of three dimensional video data disposal route towards navigation, and described method comprises the steps:
According to the road object extracting, search the three-dimensional model of described road object;
Utilize the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, described three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
By described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
According to the current path planning of vehicle, the three-dimensional scenic video from described towards navigation, extract relevant visual angle parameter, 3 D video frame data, and each frame of current path associated video;
Utilize described visual angle parameter and 3 D video frame data, current vehicle path planning is played up to the path planning generating under space, relevant visual angle;
Path planning under space, described relevant visual angle is associated with described each frame of current path associated video, generate each frame of 3 D video of exporting navigational system.
The embodiment of the present invention also provides a kind of three dimensional video data treating apparatus towards navigation, and described device comprises:
Road object three-dimensional model extraction unit, for according to the road object extracting, searches the three-dimensional model of described road object;
Three-dimensional scenic video generation unit, for utilizing the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, carries out color applying drawing to described three-dimensional model, generating three-dimensional scene video;
Towards the three-dimensional scenic video generation unit of navigation, for by described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
Associated video visual angle parameter extraction unit, for according to the current path planning of vehicle, extracts relevant visual angle parameter, 3 D video frame data the three-dimensional scenic video from described towards navigation, and each frame of current path associated video;
Path planning dispensing unit under space, relevant visual angle, for utilizing described visual angle parameter and 3 D video frame data, plays up current vehicle path planning the path planning generating under space, relevant visual angle; And
Navigation video output unit, for the path planning under space, described relevant visual angle is associated with described each frame of current path associated video, generates each frame of 3 D video of output navigational system.
The embodiment of the present invention also provides a kind of auto-navigation system, and described auto-navigation system comprises the above-mentioned three dimensional video data treating apparatus towards navigation.
The embodiment of the present invention also provides a kind of car navigation terminal, and described car navigation terminal comprises the above-mentioned three dimensional video data treating apparatus towards navigation.
In embodiments of the present invention, by being superposed to user with the video record of the three-dimensional scenic generating in advance, the real time running information of vehicle provides effective three-dimensional navigation information, reduce the requirement to hardware, reduced the memory space of data, improved the practicality of data.
Brief description of the drawings
Fig. 1 represents the realization flow figure towards the three dimensional video data generation method of navigating that one embodiment of the invention provides;
Fig. 2 represents the realization flow figure towards the three dimensional video data generation method of navigating that another embodiment of the present invention provides;
Fig. 3 represents the realization flow figure towards the three dimensional video data disposal route of navigating that one embodiment of the invention provides;
Fig. 4 represents the realization flow figure towards the three dimensional video data disposal route of navigating that another embodiment of the present invention provides;
Fig. 5 represents the structural drawing towards the three dimensional video data generating apparatus navigating that the embodiment of the present invention provides;
Fig. 6 represents the structural drawing towards the three dimensional video data treating apparatus navigating that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The embodiment of the present invention, provides effective three-dimensional navigation information by the real time running information of vehicle is superposed to user with the video record of the three-dimensional scenic generating in advance, has reduced the requirement to hardware, has reduced the memory space of data, has improved the practicality of data.
Fig. 1 shows the realization flow towards the three dimensional video data generation method of navigating that one embodiment of the invention provides, and details are as follows:
In step S101, according to the road object extracting, search the three-dimensional model of road object;
In step S102, utilize the scene rendering visual angle collection calculating according to the three-dimensional model of road object, three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
In embodiments of the present invention, scene rendering visual angle collection is according to road object three-dimensional model, utilizes lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
In embodiments of the present invention, three-dimensional scenic video is the visual angle parameter concentrated according to scene rendering visual angle, adopts three-dimensional rendering server to carry out to road object three-dimensional model the frame sequence of exporting after color applying drawing.
In step S103, by road object, three-dimensional scenic video, and the collection association of scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
Fig. 2 shows the realization flow towards the three dimensional video data generation method of navigating that another embodiment of the present invention provides, and details are as follows:
In step S201, from data in navigation electronic map, extract road object;
In step S202, according to the road object having extracted, in three-dimensional modeling data storehouse, search corresponding three-dimensional modeling data, i.e. road object three-dimensional model;
In step S203, calculate scene rendering visual angle collection according to the three-dimensional model of road object;
The embodiment of the present invention is for ensureing the current feature in crossing and surrounding enviroment clear and definite in video, and the visual angle that need to use three-dimensional rendering is chosen.These visual angles, i.e. camera, will form the key frame of scene animation.
In the embodiment of the present invention, these key frames should meet the following conditions:
A. direction of visual lines and ground normal direction are angled.
B. viaduct/crossing is positioned at projecting plane central authorities, and can show the junction of viaduct and viaduct.
C. the road being arranged under viaduct should be able to be visible on projecting plane.
D. there is taking lens in viaduct/crossing object discrepancy boundary node position.
E. common level crossing is general uses 4 taking lenss just enough.
Based on mentioned above principle, in the embodiment of the present invention, key frame can manually be chosen, and also can robotization choose.
Choose for robotization, can generate in advance several discrete positions for certain crossing, then calculate model on certain position and project to the gland situation on nearly projecting plane, this problem is converted into two-dimentional gland computational problem.The visual angle of overlooking that is positioned at higher position, inclusion information amount is larger.The picture of its correspondence can be shared, therefore 4 just enough.
In step S204, utilize scene rendering visual angle collection, the three-dimensional model of road object is carried out to color applying drawing, generating three-dimensional scene video;
In embodiments of the present invention, each frame in the frame sequence of three-dimensional scenic video includes frame chromatic information, and frame depth information, the associated corresponding visual angle parameter of each frame.
The embodiment of the present invention is according to the visual angle of choosing, and utilization is played up server three-dimensional model is carried out to three-dimensional rendering, and the picture that each is played up out and relevant parameter information thereof are kept in storer.These correlation parameter information comprise: the parameter of the view frustums of camera, camera is in position and the gyrobearing parameter of this frame, the time location of present frame in whole sequence of pictures, and the depth buffer information of present frame.
In step S205, by road object, three-dimensional scenic video, and the collection association of scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
The embodiment of the present invention, by road object, three-dimensional scenic video, and the collection association of scene rendering visual angle, generate towards the three-dimensional scenic video of navigation, do not need navigating instrument to possess GPU, low to hardware requirement, for complicated actual scene, improve the practicality of data.
Fig. 3 is the realization flow towards the three dimensional video data disposal route of navigating that one embodiment of the invention provides, and details are as follows:
In step S301, according to the road object extracting, search the three-dimensional model of road object;
In step S302, utilize the scene rendering visual angle collection calculating according to the three-dimensional model of road object, three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
In step S303, by road object, three-dimensional scenic video, and the collection association of scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
In step S304, according to the current path planning of vehicle, from the three-dimensional scenic video towards navigation, extract relevant visual angle parameter, 3 D video frame data, and each frame of current path associated video;
In step S305, utilize visual angle parameter and 3 D video frame data, current vehicle path planning is played up to the path planning generating under space, relevant visual angle;
In embodiments of the present invention, when GPS information shows that vehicle is about to enter crossing, viaduct,, to each frame in this video, do following processing:
1. obtain the view frustums of current three-dimensional scenic frame, the transformation matrix at visual angle, the parameter informations such as depth buffer.
2. utilize the model view transformation matrix obtaining according to visual angle calculation of parameter, path planning is projected on the projecting plane of virtual camera.
3. operation result is plotted to real-time information frame.
4. calculate the depth buffer of path planning.
In step S306, by associated with each frame of current path associated video the path planning under space, relevant visual angle, generate each frame of 3 D video of output navigational system.
Fig. 4 is the realization flow towards the three dimensional video data disposal route of navigating that another embodiment of the present invention provides, and details are as follows:
In step S401, from data in navigation electronic map, extract road object;
In step S402, according to the road object having extracted, in three-dimensional modeling data storehouse, find corresponding three-dimensional modeling data, i.e. road object three-dimensional model;
In step S403, calculate scene rendering visual angle collection according to the three-dimensional model of road object;
In step S404, utilize scene rendering visual angle collection, the three-dimensional model of road object is carried out to color applying drawing, generating three-dimensional scene video;
In step S405, by road object, three-dimensional scenic video, and the collection association of scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
In step S406, extract relevant visual angle parameter, 3 D video frame data, and each frame of current path associated video;
The embodiment of the present invention is according to the current path planning of vehicle, and three-dimensional scenic video extractor is extracted relevant visual angle parameter, 3 D video frame data from the three-dimensional scenic video towards navigation, and each frame of current path associated video.
In step S407, utilize visual angle parameter and 3 D video frame data, the renderer of path planning is played up current vehicle path planning the path planning generating under space, relevant visual angle;
The embodiment of the present invention is the color cache of storing in 3 D video frame data, depth buffer, and visual angle parameter corresponding to this frame be set in rendering system, generates the path planning under space, relevant visual angle.
In step S408, by associated with each frame of current path associated video the path planning under space, relevant visual angle, generate each frame of 3 D video of navigational system, and export on screen.
The embodiment of the present invention is carried out Alpha by three-dimensional scenic framing bit figure with real-time information framing bit figure and is mixed, and in the time carrying out hybrid operation, will compare depth buffer corresponding to this two frame.
Fig. 5 shows the structure towards the three dimensional video data generating apparatus navigating that the embodiment of the present invention provides, and for convenience of explanation, only shows the part relevant to the embodiment of the present invention.
This device can be integrated in various auto-navigation systems, these navigational system can be to run on the unit that software unit, hardware cell or software and hardware in the terminals such as mobile phone, PDA, automobile navigation instrument combine, and also can be used as independently suspension member and are integrated in the application system of electric terminal.
Road object three-dimensional model is searched unit 51 according to the road object extracting, and searches the three-dimensional model of road object.
Three-dimensional scenic video configuration unit 52 utilizes scene rendering visual angle set pair three-dimensional model to carry out color applying drawing, generating three-dimensional scene video.Wherein, scene rendering visual angle collection is to search according to road object three-dimensional model the scene rendering visual angle collection that the three-dimensional model of the road object of searching unit 51 calculates.
In embodiments of the present invention, scene rendering visual angle collection is according to road object three-dimensional model, utilizes lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
In embodiments of the present invention, three-dimensional scenic video is the visual angle parameter concentrated according to scene rendering visual angle, adopts three-dimensional rendering server to carry out to road object three-dimensional model the frame sequence of exporting after color applying drawing.
In the embodiment of the present invention, each frame in frame sequence includes frame chromatic information, and frame depth information, the associated corresponding visual angle parameter of each frame.
Three-dimensional scenic video road object, three-dimensional scenic video configuration unit 52 being generated towards the three-dimensional scenic video configuration unit 53 of navigation, and search according to road object three-dimensional model the scene rendering visual angle collection association that the three-dimensional model of the road object of searching unit 51 calculates, generate towards the three-dimensional scenic video of navigation.
Fig. 6 shows the structure towards the three dimensional video data processing of navigating that the embodiment of the present invention provides, and for convenience of explanation, only shows the part relevant to the embodiment of the present invention.
This device can be integrated in various auto-navigation systems, these navigational system can be to run on the unit that software unit, hardware cell or software and hardware in the terminals such as mobile phone, PDA, automobile navigation instrument combine, and also can be used as independently suspension member and are integrated in the application system of electric terminal.
Search unit 51, three-dimensional scenic video configuration unit 52 by road object three-dimensional model, and towards navigation three-dimensional scenic video configuration unit 53 form towards navigation three dimensional video data generating apparatus 5 as one independently part with towards navigation three dimensional video data treating apparatus integrate, high-quality three-dimensional navigation function can be provided in the navigator of low configuration.
Associated video visual angle parameter extraction unit 61 is according to the current path planning of vehicle, from the three-dimensional scenic video configuration unit 53 towards navigation, in the three-dimensional scenic video of navigation, extract relevant visual angle parameter, 3 D video frame data, and each frame of current path associated video.
Visual angle parameter and 3 D video frame data that path planning dispensing unit 62 under space, relevant visual angle utilizes associated video visual angle parameter extraction unit 61 to extract, play up current vehicle path planning the path planning generating under space, relevant visual angle.
Each frame of current path associated video that path planning under the space, relevant visual angle that navigation video output unit 63 generates the path planning dispensing unit 62 under space, relevant visual angle extracts with associated video visual angle parameter extraction unit 61 is associated, generates each frame of 3 D video of output navigational system.
The embodiment of the present invention is very effective for vehicle mounted guidance technical field, but is not limited to vehicle mounted guidance field, and for other field, as need be because local variation carries out three-dimensional navigation, the embodiment of the present invention be all suitable for.
In embodiments of the present invention, by being superposed to user with the video record of the three-dimensional scenic generating in advance, the real time running information of vehicle provides effective three-dimensional navigation information, reduce the requirement to hardware, reduced the memory space of data, improved the practicality of data.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (20)
1. the three dimensional video data generation method towards navigation, is characterized in that, said method comprising the steps of:
According to the road object extracting, search the three-dimensional model of described road object;
Utilize the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, described three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
By described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
2. the method for claim 1, is characterized in that, described scene rendering visual angle collection is according to described road object three-dimensional model, utilizes lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
3. the method for claim 1, is characterized in that, described three-dimensional scenic video is the visual angle parameter concentrated according to described scene rendering visual angle, adopts three-dimensional rendering server to carry out to described road object three-dimensional model the frame sequence of exporting after color applying drawing.
4. method as claimed in claim 3, is characterized in that, each frame in described frame sequence includes frame chromatic information, and frame depth information;
The associated corresponding visual angle parameter of each frame.
5. towards a three dimensional video data generating apparatus for navigation, it is characterized in that, described device comprises:
Road object three-dimensional model is searched unit, for according to the road object extracting, searches the three-dimensional model of described road object;
Three-dimensional scenic video configuration unit, for utilizing the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, carries out color applying drawing to described three-dimensional model, generating three-dimensional scene video; And
Towards the three-dimensional scenic video configuration unit of navigation, for by described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation.
6. device as claimed in claim 5, is characterized in that, described scene rendering visual angle collection is according to described road object three-dimensional model, utilizes lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
7. device as claimed in claim 5, is characterized in that, described three-dimensional scenic video is the visual angle parameter concentrated according to described scene rendering visual angle, adopts three-dimensional rendering server to carry out to described road object three-dimensional model the frame sequence of exporting after color applying drawing.
8. device as claimed in claim 7, is characterized in that, each frame in described frame sequence includes frame chromatic information, and frame depth information;
The associated corresponding visual angle parameter of each frame.
9. an auto-navigation system, is characterized in that, described auto-navigation system comprises the three dimensional video data generating apparatus towards navigation described in the arbitrary claim of claim 5 to 8.
10. a car navigation terminal, is characterized in that, described car navigation terminal comprises the three dimensional video data generating apparatus towards navigation described in the arbitrary claim of claim 5 to 8.
11. 1 kinds of three dimensional video data disposal routes towards navigation, is characterized in that, described method comprises:
According to the road object extracting, search the three-dimensional model of described road object;
Utilize the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, described three-dimensional model is carried out to color applying drawing, generating three-dimensional scene video;
By described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
According to the current path planning of vehicle, the three-dimensional scenic video from described towards navigation, extract relevant visual angle parameter, 3 D video frame data, and each frame of current path associated video;
Utilize described visual angle parameter and 3 D video frame data, current vehicle path planning is played up to the path planning generating under space, relevant visual angle;
Path planning under space, described relevant visual angle is associated with described each frame of current path associated video, generate each frame of 3 D video of exporting navigational system.
12. methods as claimed in claim 11, is characterized in that, described scene rendering visual angle collection is according to described road object three-dimensional model, utilize lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
13. methods as claimed in claim 11, is characterized in that, described three-dimensional scenic video is the visual angle parameter concentrated according to described scene rendering visual angle, adopt three-dimensional rendering server to carry out to described road object three-dimensional model the frame sequence of exporting after color applying drawing.
14. methods as claimed in claim 13, is characterized in that, each frame in described frame sequence includes frame chromatic information, and frame depth information;
The associated corresponding visual angle parameter of each frame.
15. 1 kinds of three dimensional video data treating apparatus towards navigation, is characterized in that, described device comprises:
Road object three-dimensional model extraction unit, for according to the road object extracting, searches the three-dimensional model of described road object;
Three-dimensional scenic video generation unit, for utilizing the scene rendering visual angle collection calculating according to the three-dimensional model of described road object, carries out color applying drawing to described three-dimensional model, generating three-dimensional scene video;
Towards the three-dimensional scenic video generation unit of navigation, for by described road object, three-dimensional scenic video, and the collection association of described scene rendering visual angle, generate towards the three-dimensional scenic video of navigation;
Associated video visual angle parameter extraction unit, for according to the current path planning of vehicle, extracts relevant visual angle parameter, 3 D video frame data the three-dimensional scenic video from described towards navigation, and each frame of current path associated video;
Path planning dispensing unit under space, relevant visual angle, for utilizing described visual angle parameter and 3 D video frame data, plays up current vehicle path planning the path planning generating under space, relevant visual angle; And
Navigation video output unit, for the path planning under space, described relevant visual angle is associated with described each frame of current path associated video, generates each frame of 3 D video of output navigational system.
16. devices as claimed in claim 15, is characterized in that, described scene rendering visual angle collection is according to described road object three-dimensional model, utilize lens location information and the directional information of the virtual 3D camera in three-dimensional crossing of scene rendering visual angle selector switch calculating.
17. devices as claimed in claim 15, is characterized in that, described three-dimensional scenic video is the visual angle parameter concentrated according to described scene rendering visual angle, adopt three-dimensional rendering server to carry out to described road object three-dimensional model the frame sequence of exporting after color applying drawing.
18. devices as claimed in claim 17, is characterized in that, each frame in described frame sequence includes frame chromatic information, and frame depth information;
The associated corresponding visual angle parameter of each frame.
19. 1 kinds of auto-navigation systems, is characterized in that, described auto-navigation system comprises the three dimensional video data treating apparatus towards navigation described in the arbitrary claim of claim 15 to 18.
20. 1 kinds of car navigation terminals, is characterized in that, described car navigation terminal comprises the three dimensional video data treating apparatus towards navigation described in the arbitrary claim of claim 15 to 18.
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