CN1290063C - Apparatus and method for providing stereo image of geographic object and/or detail information - Google Patents
Apparatus and method for providing stereo image of geographic object and/or detail information Download PDFInfo
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- CN1290063C CN1290063C CNB021542635A CN02154263A CN1290063C CN 1290063 C CN1290063 C CN 1290063C CN B021542635 A CNB021542635 A CN B021542635A CN 02154263 A CN02154263 A CN 02154263A CN 1290063 C CN1290063 C CN 1290063C
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
An apparatus for supplying a detail information of a stereo video or/and geometric object and a method for the same are provided to easily detect the change of the geometric information by comparing the video acquired before one month with the video acquired before one year. An apparatus for supplying a detail information of a stereo video or/and geometric object includes a data acquisition block(110), an MPEG-7 meta data generation block(120), a stereo video and MPEG-7 meta data storing block(130) and a stereo video search and supply block(140). The data acquisition block(110) acquires the global positioning system(GPS) information and an information network system(INS) information with synchronizing with the inner and outer image and the stereo video. The MPEG-7 meta data generation block(120) generates the MPEG-7 meta data the stereo data obtained from the data acquisition block(110). The stereo video and MPEG-7 meta data storing block(130) stores and manages the MPEG-7 meta data generated at the MPEG-7 meta data generation block(120). And, the stereo video search and supply block(140) searches and supplies the stereo video stored at the stereo video and MPEG-7 meta data storing block(130) in response to the stereo video request for the specific region from the terminal.
Description
Technical field
The present invention relates to a kind of devices and methods therefor that is used to provide geography target stereo-picture and/or details, and the computer readable recording medium storing program for performing that is used to write down the program of this method of enforcement, be particularly related to, be used to provide the stereo-picture of geography target and/or a kind of like this devices and methods therefor of details, with the computer readable recording medium storing program for performing that is used to write down the program that to implement this method, described device can be realized, when the user selects its interesting areas on his/her terminal, search and provide institute's favored area stereo-picture to produce 3-D view more true to nature, and when in the 3-D view that is produced, selecting geography target, discern selected geography target and the details of selected geography target are provided.
Background technology
Along with the widespread use of terminal and the introduction of third generation wireless communication technology, diversified service (LBS) application system of utilizing terminal based on the location has appearred.Wherein, utilizing the Geographic Information System of GPS (GPS) is one of the most useful system.Geographic Information System provides information for still picture relevant with current location or assigned address or simple live image information, just, resembles the simple information of geography target name in image or the like.Image information in this system provides method to adopt target on the numerical map and simple connection between the respective image file, and is just, that geography target and image information is corresponding one by one.
Yet, in this traditional method, because Geographic Information System provides rest image or simple live image information with current location or assigned address, so 3-D view can not be provided, and the quantity of image file also can along be connected with numerical map geography target increase and increase.
And, in this classic method, because this Geographic Information System only can provide such as the simple geographically targeted information corresponding to the image information of geography target, so the details of geography target can not be provided.In other words, it can not provide details, for example, whether has any desired geography target in building and geography target group.
Summary of the invention
Purpose of the present invention just provides a kind of like this devices and methods therefor, and the computer readable recording medium storing program for performing that is used to write down the program that to implement this method, this device can be gathered the stereo-picture of each bar road, safeguard the image file gathered effectively, and search and provide stereo-picture with the 3-D view more true to nature that tells on.
Another object of the present invention just provides a kind of like this devices and methods therefor, and the computer readable recording medium storing program for performing that is used to write down the program that to carry out this method, this device can be gathered the stereo-picture of each bar road, safeguard the image file of being gathered effectively, the search and provide stereo-picture with the 3-D view more true to nature that tells on, and, when in the 3-D view that is produced, having selected geography target, provide the details of selected geography target.
According to an aspect of the present invention, provide one the stereo-picture of the geography target that shows with stereo-picture and/or the device of details can be provided, it comprises a data acquisition unit, be used for according to the image acquisition region on the road name number of partitions word map, and by utilizing a plurality of video cameras to gather the inner/outer positional parameter and the stereo-picture of a plurality of video cameras, and gather and synchronous GPS (GPS) information and the inertial navigation system (INS) information of this stereo-picture for each road name; One MPEG-7 metadata generation unit generates the MPE-7 metadata by utilize the data of gathering in data acquisition unit; One stereo-picture and MPEG-7 metadata storage unit are used for stereo-picture that storage and maintenance gathers and the MPEG-7 metadata that produces in MPEG-7 metadata generation unit in data acquisition unit; And one picture search with the unit is provided, be used for searching for and be provided at the stereo-picture of storing in stereo-picture and the MPEG-7 metadata storage unit according to the specific region stereo-picture requirement that comes self terminal.
According to another aspect of the present invention, a kind of be used for the providing three-dimensional video-frequency of the geographic pattern that shows with stereo-picture that is used in a kind of like this device and/or the method for details are provided, this device is used to provide the stereo-picture and/or the details of the geography target that shows with stereo-picture, this method comprises the steps: that (a) is used for according to the image acquisition region on the road name number of partitions word map, and by utilizing a plurality of video cameras to gather the inner/outer positional parameter and the stereo-picture of a plurality of video cameras, and gather and synchronous GPS (GPS) information and the inertial navigation system (INS) information of this stereo-picture for each road name; (b) by utilizing stereo-picture and the video camera inner/outer orientation parameter of being gathered, GPS information and INS information generate the MPEG-7 metadata; (c) be each road name storage stereo-picture of being gathered and the MPEG-7 metadata that is generated; And (d) require search and the stereo-picture of having stored is provided according to stereo-picture.
According to another aspect of the present invention, a kind of computer readable recording medium storing program for performing is provided, this computer readable recording medium storing program for performing is used for being recorded in the program that the device of the stereo-picture that geography target can be provided of tape handling device and/or details is carried out, the function of this medium is that (a) is according to the image acquisition region on the road name number of partitions word map, and by utilizing a plurality of video cameras to gather the inner/outer positional parameter and the stereo-picture of a plurality of video cameras, and gather and synchronous GPS (GPS) information and the inertial navigation system (INS) information of this stereo-picture for each road name; (b) by utilizing stereo-picture and the video camera inner/outer orientation parameter of being gathered, GPS information and INS information generate the MPEG-7 metadata; (c) be each road name storage stereo-picture of being gathered and the MPEG-7 metadata that is generated; And (d) require search and the stereo-picture of having stored is provided according to stereo-picture.
Description of drawings
The accompanying drawings preferred embodiment is with clear and definite more above-mentioned and other purpose and feature of the present invention.Wherein:
Fig. 1 is the structural drawing that the embodiment that the unit is provided of the stereo-picture of geography target and/or details is described according to the present invention;
Fig. 2 is stereo-picture and/or the stereo-picture collection that method is provided of details and the process flow diagram that maintenance is handled that is used for geography target according to the present invention;
Fig. 3 is used for according to the present invention providing the processing flow chart of the stereo-picture of institute's favored area at the stereo-picture of geography target and/or the method that provides of details;
Fig. 4 is used for the stereo-picture of geography target and/or the method that provides of details provides the processing flow chart of the details of geography target according to the present invention;
Fig. 5 is according to the sketch of the geography target position that the invention provides the storage unit that is used for being described in the details that are used for geography target;
Fig. 6 A and 6B are according to stereo-picture collection of the present invention and safeguard the typical graphic extension of handling;
Fig. 7 is the typical graphic extension according to the process of search mask window (search mask) that is used to be provided with feature point tracking of the present invention and region of search.
Embodiment
Fig. 1 has shown the structural drawing according to the embodiment that the unit is provided of the stereo-picture of geography target of the present invention and/or details.
As shown in Figure 1, the stereo-picture of geography target and/or the device of details are provided provide according to the present invention, comprise data acquisition unit 110, MPEG-7 metadata generation unit 120, stereo-picture and MPEG-7 metadata storage unit 130 and stereo-picture and MPEG-7 metasearch unit 140.
MPEG-7 metadata generation unit 120 generates the MPEG-7 metadata by utilizing the data of gathering at data acquisition unit 110.
Stereo-picture of gathering in the data acquisition unit 110 and the MPEG-7 metadata that produces at MPEG-7 metadata generation unit 120 are stored and be maintained in to stereo-picture and MPEG-7 metadata storage unit 130.
Stereo-picture and MPEG-7 metasearch unit 140 are searched for the stereo-picture of storage in stereo-picture and MPEG-7 metadata storage unit 130 and the stereo-picture that searches are sent to terminal 160 by communication network according to coming self terminal 160 specific region stereo-picture requirements.
Be used to provide the stereo-picture of geography target and/or the device of details also to comprise geography information storage and search unit 150, be used to store the details of geography target, details requirement according to the specific geography target that comes self terminal 160, search for the details of specific geography target, and the details that search are offered terminal 160 by communication network.
Next, being described in detail each unit of specific embodiment.
Fig. 6 A and 6B have illustrated the collection and the maintenance process of stereo-picture according to the present invention.Shown in Fig. 6 A and 6B, be converted into the MPEG-7 metadata and be stored as by the image information of corresponding camera acquisition ' road name_left (or right) camera.mpg7 ' (road1 _ camera1.mpg7, road1_camera2.mpg7) file (' a road name _ left side (perhaps right) video camera .mpg7 ' (road 1_ video camera 1.mpg7, road 1_ video camera 2.mpg7)).
The stereo-picture that is generated and MPEG-7 metadata store in stereo-picture and MPEG-7 metadata storage unit 130.By stereo-picture and MPEG-7 metasearch unit 140 search stereo-picture and MPEG-7 metadata, it is offered terminal 160, and with it as the view data that is used for current images information and previous image information are compared, so that the function of change search to be provided.
On the other hand, when the user selected to expect the geography target of its details in the 3-D view that terminal generated, the geography information storage offered stereo-picture and MPEG-7 metasearch unit 140 with search unit 150 for selected geographical target search details and with the information that searches.Then, stereo-picture and MPEG-7 metasearch unit 140 provide the details of selected geography target by communication network.Certainly, details can need not offer terminal 160 under the situation by stereo-picture and MPEG-7 search unit 140.
Fig. 2 is stereo-picture and/or the stereo-picture collection that method is provided of details and the process flow diagram that maintenance is handled that is used for geography target according to the present invention.
At first, from numerical map, be used for by after road will be gathered the zone of stereo-picture separately,, from numerical map, select to gather the road of stereo-picture in step 220 with each road division in step 210.Next, when having selected to gather the road of stereo-picture, in step 230, by utilizing automobile collection and record outer/inner positional parameter corresponding to stereo-picture, GSP/INS information and the video camera of selected road; And, utilize the information of record to generate the MPEG-7 metadata in step 240.At this moment, corresponding road name can be designated as the file name of the image of collection automatically.Fig. 6 A and 6B are according to stereo-picture collection of the present invention and safeguard the typical graphic extension of handling.As shown in Figure 6, after from numerical map, having selected to want the road of images acquired, by utilizing two the camera acquisition left sides in the automobile on selected road and the image on the right, and be stored as ' roadname_left (or right) camera.mpg ' (road1_camera1.mpg, file road1_camera2.mpg) respectively.By safeguarding image file with road name, access at an easy rate is included in the area information in the stereo-picture file.
Fig. 3 is used for according to the present invention providing method that the processing flow chart of the stereo-picture of institute's favored area is provided in the stereo-picture and/or the details of geography target.
At first, in step 310, when request is used for the terminal current location that receives at GPS or during by the stereo image information of user's selected ad-hoc location in numerical map, in step 320, stereo-picture and 140 search of MPEG-7 metasearch unit comprise the image file name of request position information, and confirm the stereo-picture file.And then, the point frame that rises of stereo-picture can find by the road direction that comprises the relevant position with last frame.The reason of doing like this is exactly in order not to be at the image that requires to be included in the whole road in each image file, but when requiring to be used for from the corresponding road image in selected location, is used to provide desired frame.
At this moment, determine that the method for road direction is as described below.
At first, in step 330, from the MPEG-7 metadata, read the road starting point coordinate (X1, Y1) and terminal point coordinate (Xn, Yn), and with absolute distance.Just, the absolute value of X1-Xn, with another absolute distance, just the absolute value of Y1-Yn is compared.When the absolute value of X1-Xn is bigger, determine that direction is a level.When the absolute value of Y1-Yn is bigger, determine that direction is vertical.
Then, in order to have obtained the information of point frame, from the MPEG-7 metadata of correspondence, read the position coordinates (X of video camera p.s., Y) afterwards, in step 340, when the direction of road be level the time, horizontal coordinate (X coordinate) and the coordinate that receives from terminal 160 are compared, perhaps when the direction of road when being vertical, with vertical coordinate (Y coordinate) and the coordinate that receives from terminal 160 relatively, so that found the position of point frame in step 350.At this moment, in step 360, the user characteristics data in the MPEG-7 metadata of the stereo-picture that searches is confirmed to be recorded in stereo-picture and MPEG-7 metasearch unit 140, just, and user's termination property, user's bandwidth available, desired image event information or the like.Then, if necessary, stereo-picture and MPEG-7 metasearch unit 140 regenerate stereo image information, just, in step 370, when bandwidth available is narrower, readjust the stereo-picture size with dimensional requirement that is fit to terminal and the speed that reduces frame, so that stereo-picture is provided.In step 380, the stereo-picture that is provided is shown on the terminal 160 with three dimensional display capabilities.
Fig. 4 is the process flow diagram that is used for the Processing Example that the details that method provides geography target are provided of the stereo-picture of geography target and/or details according to the present invention.
As mentioned above, the stereo-picture that provides the user to ask by stereo-picture and MPEG-7 metasearch unit 140, and the user can ask to obtain the details of the geography target that shows with 3-D view.In the case, the user can use the geography target that shows with 3-D view such as the such choice of equipment of mouse.At this moment, in step 401, the screen coordinate of the title of the image of current demonstration and frame number n and selected location is sent to stereo-picture and MPEG-7 metasearch unit 140.On the other hand, stereo-picture and MPEG-7 metasearch unit 140 from motion tracking about being transfused to the unique point of the selected feature of screen coordinate.The reason that is used to follow the tracks of is in order to strengthen the degree of accuracy of three-dimensional coordinate after the solid coupling.
The process of tracking characteristics point is described below.
At first, in step 402, will be defined as the unique point of picture frame n by the screen coordinate of selected location in the image of current demonstration.Then, in step 403, stereo-picture and MPEG-7 metasearch unit 140 are provided with search mask window (8 * 8) (see figure 7) around the screen coordinate unique point of being imported, and from next frame n+1, find with the search mask window in pixel have the position of maximum similarity.Here, similarity refers to the difference of the pixel colour mean value in search mask window scope in an embodiment of the present invention.In order in next frame n+1, to find unique point, in step 404,16 * 16 zones are set to the region of search (see figure 7) around the current location of the search mask window of preceding frame n, in step 405, in the region of search, determine to have the point of maximum similarity with the pixel in the search mask window of preceding frame n.Because the similarity of the point of determining in the region of search is bigger than threshold value, just in image, there is unique point, in step 407, after determining that point is for unique point, repeat the feature point tracking process of next frame n+2.Yet,,, just in image, do not have unique point, the tracking of terminal point unique point in the region of search because the similarity of the point of determining is littler than threshold value in step 406.
Finish after the tracking of unique point,, load corresponding stereo-picture and mate to come the three-dimensional coordinate of calculated characteristics point by solid in step 408.When automobile moves forward during images acquired, after the tracking of unique point is finished, geography target is positioned in from the nearest distance of video camera, and because selected geographical target localization in the position closer with video camera, has therefore reduced to calculate the error of three-dimensional coordinate.
In case obtain the three-dimensional information of geography target by three-dimensional coupling, in step 409, the geography information storage is just searched for the geography information that comprises the three-dimensional coordinate that calculates by the solid coupling with search unit 150, and in step 410, the details of search geography target are so that offer terminal 160.
Fig. 5 is the sketch of geography target position that is described in the storage unit of the details that are used for geography target according to the present invention.The three-dimensional coordinate of building by the corner coordinate of construction bottom face ((X1, Y1) ..., (Xn, Yn)) and each corner height (H1, H2..., Hn) composition.If (Xi, Yi are in the coordinate of buildings or are coming from the threshold range of coordinate of buildings Hi) that then selected unique point is considered to the point on the corresponding target to selected characteristic point coordinates.The details of geography target can or utilize the stereo-picture of having gathered to produce from numerical map.By on stereo-picture, selecting two points to import the details of geography target, generate the details of the three-dimensional information and the storage geography target of geography target simultaneously.Utilize the details of geography target, the user can obtain details, and the 3-D view of the name of geography target, operating position or the like and respective regions in corresponding zone for example is so that provide maximum as far as possible geography information.
As mentioned above, the inventive method can realize that this program can be stored in the recording medium with computer-readable form, for example CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optic disk or the like by program.Both made and omitted detailed description, those skilled in the art also can realize this step easily.
As mentioned above, by the image information as the MPEG-7 metadata that storage and maintenance is gathered, the present invention can provide stereo-picture and the image of the specific region of being asked in the application system based on positioning service (LBS).And, by relatively with an image and another image of gathering at relative the former different time, for example, by comparing image of gathering in the past in month and another image of gathering in the past in a year, the present invention can find the variation of geography information easily.
And the present invention can selectively play interested incident or theme in the image of specific region.For example, when showing specific road image, the image information that focuses on bifurcated road or crossroad can be provided or gather viaduct or the image of crossing.
And, the present invention be advantageous in that to provide general image information for a zone or interesting areas of stranger's visit, and can be by utilizing the three-dimensional details of reading of mating based on the geography target of image, provide geography target such as title, the details of operating position or the like.
When the present invention being showed and illustrating by specific embodiment, for those of ordinary skills, many variations and the modification that can make the present invention and don't break away from the spirit and scope of the present invention as limiting in the appended claims.
Claims (8)
1. one kind is used to the stereo-picture of the geography target that shows with stereo-picture and/or the device of details are provided, and comprising:
Data acquisition unit, be used for according to the image acquisition region on the road name number of partitions word map, and by utilizing a plurality of video cameras to gather the inner/outer positional parameter and the stereo-picture of a plurality of video cameras, and gather and synchronous GPS system information and the inertial navigation system information of this stereo-picture for each road name;
MPEG-7 metadata generation unit is used for by utilizing the data of gathering at data acquisition unit to generate the MPEG-7 metadata;
Stereo-picture and MPEG-7 metadata storage unit are used for storage and maintenance in stereo-picture that data acquisition unit obtains and the MPEG-7 metadata that generates in MPEG-7 metadata generation unit;
Picture search with the unit is provided, the stereo-picture of searching for and provide stereo-picture and MPEG-7 metadata storage unit to store according to the request to the specific region stereo-picture that comes self terminal is provided; And
Geography information storage and search unit, the details that are used to store geography target, and, search for and provide the details of specific geography target according to the request of the details of the geography target that sends from terminal.
2. device as claimed in claim 1, wherein MPEG-7 metadata generation unit has the function that gathers particular topic or gather/edit the particular event in image.
3. one kind is used to provide the stereo-picture of the geography target that shows with stereo-picture and/or the method for details, and it is used in the device of stereo-picture that the geography target that shows with stereo-picture is provided and/or details, and the method comprising the steps of:
(a) utilize image acquisition region on the road name number of partitions word map, and by utilizing a plurality of video cameras to gather the inner/outer positional parameter and the stereo-picture of a plurality of video cameras, and gather and synchronous GPS system information and the inertial navigation system information of this stereo-picture for each road name;
(b) by utilizing the stereo-picture gathered and the inner/outer positional parameter of video camera, GPS system information and inertial navigation system information generate the MPEG-7 metadata;
(c) be each road name storage three-dimensional video-frequency of being gathered and the MPEG-7 metadata that is generated;
(d) search for and provide the stereo-picture of having stored according to the requirement of stereo-picture; And
(e), search for and provide the details of specific geography target according to request to the details that are included in the geography target in the already provided stereo-picture.
4. method as claimed in claim 3, wherein step (e) comprises step:
(e1) determine the unique point of the geography target in the geography target group of the stereo-picture that is provided, selected by the user for each frame;
(e2) determine the picture frame of determined and the immediate unique point of video camera in each frame, and load and determine the stereo-picture of frame corresponding to this;
(e3) by utilizing the stereo-picture that is loaded, at the three-dimensional coordinate that carries out the definite unique point in three-dimensional coupling back; And
(e4) search for and provide the geography target of the three-dimensional coordinate that comprises definite unique point.
5. method according to claim 4, wherein step (e1) comprises step:
(e1-1) receive the title of selected image and the screen coordinate of frame number and selected location;
(e1-2) definite screen coordinate that is received is as the unique point of frame;
(e1-3) the search mask window is set around the unique point of determining, and calculates the mean value of pixel colour in the search mask window;
(e1-4) in the next frame of the frame of having determined unique point the current location of search mask window around the region of search is set;
(e1-5) determine that the pixel colour mean value with the search mask window that calculates has the point of highest similarity in set region of search;
(e1-6) if the similarity of the point of determining is bigger than threshold value, determine that this point is the unique point of frame and enters step (e1-3) in step (e1-5), and, if the similarity of the point of determining in step (e1-5) enters step (e2) less than threshold value.
6. as each described method of claim 3-5, wherein step (d) comprises step:
(d1) receive the terminal current location that receives from GPS or the request of the stereo-picture of selected location on numerical map;
(d2) confirm desired image file;
(d3) confirm to comprise the trend of road of determining image file;
(d4) compare by coordinate and determined point frame and last frame determined durection component coordinate of road and selected location; And
(d5) provide stereo-picture according to determined point frame.
7. method according to claim 6 also comprises step:
(d6) confirm user's profile, terminal feature and the effective band that regenerates stereo-picture.
8. method as claimed in claim 7, wherein step (d3) comprises the steps:
(d3-1) read the position coordinates of video camera from the MPEG-7 metadata with predetermined space; And
(d3-2) absolute value of the vertical range of starting point coordinate in the coordinate of reading and terminal point coordinate is made comparisons to determine a bigger trend as road with the absolute value of the horizontal range of the starting point coordinate of reading coordinate and terminal point coordinate.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2002-0073048A KR100489890B1 (en) | 2002-11-22 | 2002-11-22 | Apparatus and Method to Provide Stereo Video or/and Detailed Information of Geographic Objects |
| KR73048/2002 | 2002-11-22 | ||
| KR73048/02 | 2002-11-22 |
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| Publication Number | Publication Date |
|---|---|
| CN1503200A CN1503200A (en) | 2004-06-09 |
| CN1290063C true CN1290063C (en) | 2006-12-13 |
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| CNB021542635A Expired - Fee Related CN1290063C (en) | 2002-11-22 | 2002-12-31 | Apparatus and method for providing stereo image of geographic object and/or detail information |
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| KR (1) | KR100489890B1 (en) |
| CN (1) | CN1290063C (en) |
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| CN104121910A (en) * | 2013-04-28 | 2014-10-29 | 腾讯科技（深圳）有限公司 | Navigation method, device, terminal, server and system |
| US9734399B2 (en) * | 2014-04-08 | 2017-08-15 | The Boeing Company | Context-aware object detection in aerial photographs/videos using travel path metadata |
| CN105208372A (en) * | 2015-10-15 | 2015-12-30 | 浙江卓锐科技股份有限公司 | 3D landscape generation system and method with interaction measurable function and reality sense |
| CN105635616B (en) * | 2016-01-27 | 2018-10-02 | 中测新图(北京)遥感技术有限责任公司 | A kind of fusion method and device of video data and geographical location information |
| KR102490520B1 (en) | 2020-04-29 | 2023-01-25 | 주식회사 모빌테크 | Apparatus for building map using gps information and lidar signal and controlling method thereof |
-
2002
- 2002-11-22 KR KR10-2002-0073048A patent/KR100489890B1/en not_active IP Right Cessation
- 2002-12-31 CN CNB021542635A patent/CN1290063C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013134958A1 (en) * | 2012-03-16 | 2013-09-19 | Qoros Automotive Co., Ltd. | Mobile system and method for marking location |
Also Published As
| Publication number | Publication date |
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| KR20040045050A (en) | 2004-06-01 |
| CN1503200A (en) | 2004-06-09 |
| KR100489890B1 (en) | 2005-05-17 |
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