JP2003114614A - Method and device for processing three-dimensional map data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently correct three-dimensional original map data. SOLUTION: A two-dimensionally converting device 12 generates two-dimensional map data 14 by eliminating information on height z from the original map data 10. An operator edits and corrects the two-dimensional map data 14 with an editing device 16. Comparison units 18, 20, 22 compare stepwise each line data of the original map data 10 with each line data of the two-dimensional map data 14 to generate three-dimensional map data corresponding to the two-dimensional map data 14 to be stored in a storage device 24. In an unprocessed data storage device 26, line data or identification information of the line data of the two-dimensional map data 14 to which no correspondence can be found by the comparison units 18, 20 is stored. A height interpolation device 28 supplements undetermined height data of the two-dimensional map data 14 with height (z) data by forming ground surface based on the three- dimensional map data 24. A device 30 three-dimensionally processing a building forms a box model by depressing a building data included in the three- dimensional map data 24 toward the ground surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for editing / correcting three-dimensional map data.

[0002]

2. Description of the Related Art Map data based on aerial photographs are generally created as follows. That is, first, set an aerial photograph on a plotter, trace the road boundary line and building outer periphery line on the photograph with a line that connects the feature points along these lines, and trace the traced line, so-called vector data. It is imported into a computer as line data expressed in a format and used as the original 3D map data for editing. Next, CAD
The original map data is converted into two-dimensional data on (Computer Aided Design), and the two-dimensional map data is appropriately modified to complete the two-dimensional map database.

[0003]

Recently, there is an increasing demand for three-dimensional information, that is, height information for map data, and it is desired to establish a method for efficiently creating three-dimensional map data. It is rare.

To create the three-dimensional map data, a method of directly applying the process of creating the two-dimensional map database to the three-dimensional map data can be considered. That is, the three-dimensional map data is created by directly editing the three-dimensional original map data in a three-dimensional state. Specifically, the original map data is displayed as a three-sided view on CAD, and the plane positions and heights of the respective vertices of each figure (map configuration data) that is an element of the original map data on the three-sided view (that is, (x , Y, z) coordinate value), a method of stereoscopically viewing and correcting the plane position and height of each vertex of each figure on the stereoscopic display, and a method of using both of them together.

However, each method is equivalent to manually correcting each vertex data ((x, y, z) coordinate value) of each figure, so that a small number of three-dimensional data can be processed. Even if it can be used, it is practically impossible to manually correct each vertex data of each figure with three-dimensional data including many element figures such as map data.

It is an object of the present invention to provide a three-dimensional map data processing method and device which can create three-dimensional map data by a simpler operation.

[0007]

A three-dimensional map data processing method according to the present invention is a two-dimensional map data generating method for generating two-dimensional map data from which height is removed from three-dimensional original map data composed of a plurality of map constituent data. It is characterized in that it comprises a conversion step, an editing step of editing the two-dimensional map data, a first, second and third comparison step, and a height interpolation step.

The first comparison step is a comparison step of comparing the original map data and the two-dimensional map data with a unit of map configuration data and the same attribute, and the map configuration of the two-dimensional map data corresponding to each other. The horizontal coordinates of the data, the height of the map constituent data of the original map data, and the three-dimensional map data having the same attributes are generated.

The second comparing step is a comparing step for comparing the original map data and the two-dimensional map data in units of map constituent data, and the horizontal of the map constituent data of the corresponding two-dimensional map data corresponding to each other. Three-dimensional map data having coordinates, the height of the map constituent data of the original map data, and the attributes of the map constituent data of the two-dimensional map data is generated.

The third comparison step is a comparison step of comparing the original map data and the two-dimensional map data in units of constituent points of the map constituent data, which correspond to each other.
Three-dimensional map data having the horizontal coordinates of the graphic configuration of the two-dimensional map data, the height of the map configuration data of the original map data, and the attributes of the map configuration data of the two-dimensional map data is generated.

The height interpolation step is a step of replenishing predetermined data of the two-dimensional map data with height data, and from the data constituting the ground surface of the generated three-dimensional map data, Form a polyhedron showing the ground surface,
The three-dimensional data in which the height is interpolated with respect to the predetermined data of the two-dimensional map data is generated.

The method according to the present invention is preferably a building three-dimensionalization processing step of three-dimensionalizing map configuration data showing a building in the generated three-dimensional map data, wherein the generated three-dimensional map data is From the data that constitutes the ground surface, form a polyhedron that indicates the ground surface, generate the data that indicates the wall surface from the projection of the map configuration data that indicates the building onto the ground surface, and create the map configuration data that indicates the building. A building three-dimensional processing step for supplementing is provided.

A three-dimensional map data processing apparatus according to the present invention includes a two-dimensional processing means for generating height-removed two-dimensional map data from three-dimensional original map data composed of a plurality of map constituent data, and It is characterized in that it comprises an editing means for editing the two-dimensional map data, first, second and third comparing means, and height interpolating means.

The first comparing means is a comparing means for comparing the original map data and the two-dimensional map data with a map configuration data unit and the same attribute, and the corresponding map configurations of the two-dimensional map data. Three-dimensional map data having the horizontal coordinates of the data, the height of the map constituent data of the original map data, and the same attribute is generated.

The second comparing means is a comparing means for comparing the original map data and the two-dimensional map data in units of map constituting data, and the horizontal comparing of the map constituting data of the two-dimensional map data corresponding to each other is performed. Three-dimensional map data having coordinates, the height of the map constituent data of the original map data, and the same attribute as the attribute of the map constituent data of the two-dimensional map data is generated.

The third comparing means is a comparing means for comparing the original map data and the two-dimensional map data in units of constitutional points of the map constitution data, and the graphic constitution of the two-dimensional map data corresponding to each other. 3D map data having horizontal coordinates, the height of the map configuration data of the original map data, and the same attributes as the attributes of the map configuration data of the 2D map data.

The height interpolating means is a means for supplementing height data to predetermined data of the two-dimensional map data, and from the data constituting the ground surface of the generated three-dimensional map data, A polyhedron indicating the ground surface is formed, and three-dimensional data in which height is interpolated with respect to predetermined data of the two-dimensional map data is generated.

The device according to the present invention is preferably a building three-dimensional processing means for three-dimensionalizing map configuration data showing a building in the generated three-dimensional map data, and From the data that constitutes the ground surface, form a polyhedron that indicates the ground surface, generate the data that indicates the wall surface from the projection of the map configuration data that indicates the building onto the ground surface, and create the map configuration data that indicates the building. It is equipped with a building three-dimensional processing means for supplementation.

[0019]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 shows a schematic block diagram of an embodiment of the present invention. The storage device 10 stores three-dimensional map data (original map data) created by reading an aerial photograph with a plotter.
Stored in. Hereinafter, the original map data stored in the storage device 10 will be referred to as “original map data 10”.

The original map data 10 is composed of a plurality of map constituent data. The map configuration data includes line data Li and point data Ti. The line data Li has three-dimensional coordinates (x, y, z) indicating the start point Ps of the line, three-dimensional coordinates (x, y, z) indicating the end point Pe of the line, and graphic attributes as essential elements, and as an option. The coordinates (x, y, z) of one or more intermediate points Pm are provided. The graphic attribute indicates whether the line is a boundary line such as a building, a road, a river, a paddy field and a field, and a contour line. For example, a line may indicate both road and paddy boundaries. In this case, a graphic attribute value indicating a road boundary and a paddy field boundary is separately provided. That is, in this embodiment, the graphic attribute is 1.
Only one value can be taken, but that value can define multiple boundaries. In general terms, a configuration that can take a plurality of values as the graphic attribute is also conceivable.

The point data Ti is used to display a note such as a building name and a road name, and various map symbols on the map. The point data Ti has three-dimensional coordinates (x, y,
z) and a character string text to be displayed at that position. A note, a map symbol, etc. are stored in the character string.

The features can be classified into the following three types according to the graphic attributes. That is, (1) a graphic forming the ground surface, (2) a graphic that changes depending on the business conditions, and (3) a graphic having a height different from the ground surface. In this specification, a figure forming the ground surface is called a "ground height figure", a figure that changes depending on the business conditions is called an "arbitrary height figure", and a figure having a height different from the ground surface is called a "feature height figure". I will call it. The user can freely set which figure is classified into which. As an example, roads and rivers are ground height figures, fences are arbitrary height figures, and buildings and overpasses are ground height figures.

The two-dimensionalization device 12 removes the information of the height z from the original map data stored in the storage device 10 to make it two-dimensional, and creates two-dimensional map data. The created two-dimensional map data is stored in the storage device 14. Hereinafter, the two-dimensional map data stored in the storage device 14 will be referred to as “two-dimensional map data 14” or “two-dimensional data 14”. The two-dimensional map data 14 has the same data structure as the original map data 10 except that the z coordinate value of each point is lost. Therefore, a copy of the original map data 10 in which the z coordinate value is 0 may be used as the two-dimensional map data 14.

The operator performs the same operation as the conventional editing operation of the two-dimensional map data, and the editing device (specifically,
The CAD software 16 is used to edit the two-dimensional map data 14, and the two-dimensional map data 14 is updated with the edited result. Add notes such as names and road names and map symbols,
Lines are moved / added / deleted and graphic attributes are changed. This is a two-dimensional work and is a steady process, but there are no technical difficulties.

For example, the operator may edit the editing device 1 with respect to a portion where the outer peripheral line of the building projects beyond the road boundary line to the road side or where the start and end points of the road boundary line do not match.
6, the plane position and shape of the figure are corrected. Also,
When it is determined that the graphic attribute of the original map data 10 generated by the plotting machine is different from the result of the field survey conducted separately, the operator changes it to the correct graphic attribute.
Further, the operator adds a note or the like as needed.

The information of altitude (z) is missing from the notes, symbols, lines added by the editing device 16 and the end points and intermediate points of existing lines. Therefore, although the details will be described later, the points added to the existing line will be compared with the comparison devices 18, 20, and 2.
2 interpolates from the altitude data at other points in the existing line. For other added notes, symbols, and lines, the height interpolation device 28 complements the altitude information.

After editing by the editing device 16, the comparison device 1
8, 20, and 22 compare each line data of the original map data 10 with each line data of the two-dimensional map data 14 corrected by the editing device 16 in stages.
3D map data corresponding to is generated and stored in the storage device 24. Hereinafter, the three-dimensional map data stored in the storage device 14 will be referred to as “three-dimensional map data 24”. In the unprocessed storage device 26, the corresponding line (identification information) of the two-dimensional map data 14, that is, the unprocessed data (identification information), for which the correspondence cannot be found in each of the comparison devices 18 and 20, is stored. . In preparation for the subsequent processing, the data (line and point data) contained in the original map data 10 and the two-dimensional map data 14 are sorted in advance by their coordinate values (x, y), and the storage device 10, respectively. 14 (or working memory).

The operation of each comparison device 18, 20, 22 will be briefly described. The comparison device 18 compares each line data of the original map data 10 and each line data of the two-dimensional map data 14 with respect to the plane position (x, y) and the graphic attribute. When line data having a position corresponding to each element point of the line data of the two-dimensional map data and having matching graphic attributes can be found from the original map data 10, both lines match or correspond. Then determine. The plane position of the two-dimensional map data 14 may be slightly moved due to the editing work, so a certain amount of error is allowed in the comparison of the coordinate values.
Such an error is defined, for example, in the Ministry of Land, Infrastructure, Transport and Tourism public surveying work regulations.

When the plane position and the graphic attribute match, the three-dimensional map data is obtained from the height coordinate z of the original map data 10 and the plane coordinate (x, y) and the graphic attribute of the two-dimensional map data 14 regarding the matched line. Is generated and written in the storage device 24. If a line having the same plane position and graphic attribute is not found, the corresponding line data of the two-dimensional map data 14 is
The unprocessed data is stored in the unprocessed storage device 26.

When generating the three-dimensional map data, the comparison device 18 also includes points that do not exist in the corresponding lines of the original map data 10 but only in the two-dimensional map data 14, and that the distance between the lines is greater than the allowable error. The points of the line of the two-dimensional map data 14 (points added / changed by the editing device 16) are estimated from the height data of the points of the corresponding line of the original map data 10 by the interpolation method.

FIG. 2 shows a model diagram of the comparison operation by the comparison device 18. 2A shows a plan view of a part of the original map data 10, FIG. 2B shows a plan view of a corresponding portion of the two-dimensional map data 14, and FIG.
3D shows a state of matching, and FIG. 3D shows a plan view of the three-dimensional map data 24 generated by the comparison device 18. In the original map data 10 shown in FIG. 2A, the line P1-
P2, P3-P4 indicate road boundaries, and lines P5-P10
Indicates the boundary of the building, and in the two-dimensional map data 14 shown in FIG. 2B, points Q1 to Q10 are respectively shown in FIG.
Corresponding to points P1 to P10 of the original map data 10.
In the original map data 10, the building indicated by P5 to P10 bites into the road, and the operator edits the same as the two-dimensional map data 14 shown in FIG. 2B.
Fixed by 6. In FIG. 2D, points R1 to R10 are three-dimensional data 2 generated by the comparison device 18, respectively.
4 shows the element points of the line data of No. 4.

The comparison device 18 is as shown in FIG.
Then, the original map data 10 and the two-dimensional map data 14 are compared.
Or matching, and as a result, data corresponding to each other
If it is determined that the 3D map data 24
To generate. A line is constructed with the generated 3D map data 24.
The x-coordinate value and y-coordinate value of each point R1 to R10 are
Corresponding points Q1 to Q1 of the two-dimensional map data 14 respectively
It consists of x coordinate value and y coordinate value of 0, and each point R1 to R10
The z-coordinate value of each is the corresponding point of the original map data 10.
It consists of z coordinate values of P1 to P10. For example, the coordinates of Pi
The value is (x_Pi, Y _Pi, Z_Pi), The point corresponding to the point Pi
The coordinate value of Qi is (x_Qi, Y_Qi), Then the seat of Ri
The standard value is (x_Qi, Y_Qi, Z_Pi). Also generate
Prescribed at each point R1 to R10 of the three-dimensional map data 24
The graphic attributes of the drawn lines correspond to those of the two-dimensional map data 14.
The graphic attributes of the line defined by the points Q1 to Q10.

Following the comparison of the comparison device 18, the comparison device 2
0 represents the line data stored in the unprocessed storage device 26 among the line data of the two-dimensional map data 14 at the plane position (x,
Concerning y), each line data of the original map data 10 is compared. Of course, as in the case of the comparison device 18, in the comparison of the plane positions (x, y), when the plane positions that allow a predetermined amount of error match, the height z of the three-dimensional map data 10 with respect to the matched line And the plane coordinates (x, y) of the two-dimensional map data 14 and the graphic attributes, the three-dimensional map data is generated and written in the storage device 24, and at the same time, the identification information of this line is deleted from the unprocessed storage device 26. To do.

The comparison device 20 also includes points that do not exist in the corresponding lines of the original map data 10 but only in the two-dimensional map data 14, and lines of the two-dimensional map data 14 that are separated from each other by an allowable error or more. Points (points added / changed by the editing device 16) are estimated by the interpolation method from the height data of each point of the corresponding line of the original map data 10.

The operation of the contrast device 20 is the same as that of the contrast device 18, except that the graphic attributes are not taken into account.

Following the comparison of the comparison device 20, the comparison device 2
2 is line data stored in the unprocessed storage device 26 among line data of the two-dimensional map data 14,
The line data of 0 is compared in coordinate units. That is, apart from the constraint of the line, the two-dimensional map data and the original map data are compared in units of the element points (start point, end point, and intermediate point) of the line. For example, in the original map data 10, two lines indicating the boundaries of two adjacent buildings are converted into one line indicating the boundaries of a single connected building in the two-dimensional map data 14 by the editing work of the editing device 16. May be registered. In such a case, the comparison devices 18 and 20 cannot find the correspondence, but the comparison device 22 can find the correspondence.

The comparison device 22 also does not exist in the corresponding line of the original map data 10 but exists only in the two-dimensional map data 14, and the line of the two-dimensional map data 14 which is separated from the two lines by an allowable error or more. Points (points added / changed by the editing device 16) are estimated by the interpolation method from the height data of each point of the corresponding line of the original map data 10.

FIG. 3 shows an explanatory model of comparison by the comparison device 22. FIG. 3A shows a plan view of a part of the original map data 10, FIG. 3B shows a plan view of a corresponding portion of the two-dimensional map data 14, and FIG. 3C shows the comparison device 22. The state of matching is shown, and FIG.
2 shows a plan view of the three-dimensional map data 24 generated by 2.

In the original map data 10 shown in FIG. 3A, lines P1-P2 and P3-P4 indicate road boundaries, and lines P5-P5.
Although 8 and P9 to P12 are originally one, they indicate the boundaries of the buildings recognized separately by the plotter. In the two-dimensional map data 14 shown in FIG. 3B, lines Q1-Q2, Q3-Q4
Indicates a road boundary corresponding to the road boundary indicated by lines P1-P2, P3-P4, and lines Q5 to Q10 are lines P5 to P8 and P9 to P12 modified to show one building. Further, points P10 and P11 of the original map data 10 shown in FIG. 3 (a) bite into the road, and the operator edits the points P10 and P11 like the two-dimensional map data 14 shown in FIG. 3 (b). Due to this, it was modified to be located outside the road. In FIG. 3D, points R1 to R10 are respectively
The element points of the line data of the three-dimensional data 24 generated by the comparison device 22 are shown.

As shown in FIG. 3 (c), the comparison device 22 compares or matches the original map data 10 and the two-dimensional map data 14 and, as a result, determines that they are objects corresponding to each other. Thus, the three-dimensional map data 24 is generated. The x-coordinate value and the y-coordinate value of each of the points R1 to R10 forming a line in the generated three-dimensional map data 24 are respectively the corresponding points Q1 of the two-dimensional map data 14.
To Q10 x-coordinate values and y-coordinate values, each point R1
The z coordinate values of R10 are the z coordinate values of the corresponding points P1 to P6, P9, P10, P11, P8 of the original map data 10, respectively. For example, if the coordinate value of _Pi is (x _Pi , y
_{Pi, z Pi), (x} Qi coordinate values of Qi point corresponding to the point _Pi, if the _{y Qi),} the coordinate values of R7 is the _{(x Q7, y Q7, z} P 9). In addition, the graphic attribute of the line defined by the points R1 to R10 of the generated 3D map data 24 is the corresponding point Q of the 2D map data 14.
It consists of the graphic attributes of the lines defined by 1 to Q10.

After comparing the comparing devices 18, 20, 22 with each other, the height interpolating device 28 detects the height-undetermined data of the two-dimensional map data 14 from the three-dimensional map data stored in the storage device 24. Complement the height (z) data. The target is exclusively the lines added by the editing device 16 and the additional notes such as map symbols and building names / road names. In either case, the comparison devices 18, 20, 22 cannot find the corresponding line data from the original map data 10.

That is, the height interpolating device 28 first forms a triangle that does not overlap the surfaces formed by the line data of the three-dimensional map data stored in the storage device 24 and uses the lines as sides. Form a triangular mesh that is divided by faces. And
The height interpolation device 28 calculates the heights of the line data and the point data stored in the unprocessed storage device 14 by interpolation on the formed triangulation network. Since this height data is the height of the ground surface, it is preferable to exclude the height information of the building in advance from the height of the surroundings used for interpolation. For example, the above-mentioned triangular mesh is formed by ignoring the line data whose graphic attribute is building.

FIG. 4 shows an explanatory model of the height interpolation device 28. As shown in FIG. 4A, a surface surrounded by a line composed of points R1 to R8 is divided by a triangle having each line as a side as shown in FIG. 4B.

If the line data stored in the unprocessed storage device 14 is defined by points Q1 and Q2, as shown in FIG. 4C, the same plane coordinates (x,
The z coordinate value of the point having y) is calculated, and the z coordinate value is set as the z coordinate value of the points R9 and R10 corresponding to Q1 and Q2. That is, on the surface of the polyhedron formed by the triangulation with the coordinate value of the point Q1 being (x _Q1 , y _Q1 ), (x _Q1 ,
If the height of y _Q1 ) is z _R9 , the coordinate value of R 9 is (x
_Q1 , y _Q1 , z _R9 ).

As described above, the original map data 10 and the two-dimensional map data 14 are compared stepwise, and the two-dimensional map data 14 in which the plane position (x, y) and the graphic attribute are corrected according to the actual situation are obtained. By combining the height data (z) of the original map data 10, the three-dimensional original map data can be efficiently corrected with less labor by the operator. Since the mechanical comparison is performed in the order of high accuracy, it is possible to efficiently create realistic three-dimensional map data with less labor by the operator.

In the three-dimensional map data 24 at this stage,
Since the side wall of the building is not displayed, the back can be seen through when the bird's eye view is displayed. Therefore, in the present embodiment, the building three-dimensional processing device 30 forms a box-shaped model in which the building data included in the three-dimensional map data stored in the storage device 24 is pushed down to the ground surface to form a three-dimensional map. Element points of the box-shaped model (line data on the ground surface) are added to the data 24.

Specifically, the following is done. That is, the building three-dimensional processing device 30 uses the three-dimensional map data 24, and as shown in FIG. 5A, an area of an appropriate size around the building to be three-dimensionalized on the horizontal projection plane. To set. In FIG. 5A, lines R1 to R4 define the three-dimensional target building boundary line, and lines R5 to R12 indicate the area set around the building.

As with the height interpolator 28, the line R5
The area surrounded by R12 is divided by triangular surfaces that do not overlap each other and use the line segments as sides. An example of the triangular mesh thus formed is shown in FIG. When forming the triangular mesh, lines of other buildings are removed in advance as in the case of the height interpolating device 28. As shown in FIG. 5C, the building three-dimensional processing device 30 projects the points R1 to R4 on the upper surface of the target building on the formed triangular mesh, and thereby the points R1a, R2a, on the triangular mesh are projected. R3a, R4a
Form the site of the building. However, in general,
Since it is preferable to make the floor horizontal, R1a, R2a,
The height (z) of R3a and R4a is adjusted to the lowest numerical value among them. In this way, points R1 to R4 and R1a
A box model defined by R4a is formed. That is,
The opaque wall surface of a building can be converted into data.

The pattern matching in this embodiment is
It can be realized by software or hardware simulating a neural network. Of course, most of the data processing of this embodiment can actually be realized by a computer program.

FIG. 6 shows a flowchart of a computer program for realizing the function of the comparison device 18. The comparison device 18 compares each line data of the original map data 10 and each line data of the two-dimensional map data 14 with respect to the plane position (x, y) and the graphic attribute. That is, the two-dimensional map data 14
The loop variable i for identifying each line data Li is initialized (S1), incremented (S2), and the line data Li is read from the two-dimensional map data 14 (S3). The line data Li is compared with each line data Lj of the original map data 10 (S4). Although details will be described later, in step S4, when Lj having an element point positionally corresponding to each element point of the line data Li and having a matching graphic attribute can be found, both lines match or correspond to each other. Then determine. Since the plane position of the two-dimensional map data 14 may be slightly moved due to the editing work, a certain amount of error is allowed in the comparison of the coordinate values as described above. The variable i that specifies the line Li of the two-dimensional map data and the variable j that specifies the line Lj of the original map data 10 are global variables.

When the plane position and the figure attribute match (S
5) Regarding the matched line, three-dimensional map data is generated from the height coordinate z of the original map data 10, the plane coordinate (x, y) of the two-dimensional map data 14 and the graphic attribute, and the storage device 2
4 (S6). If a line having the same plane position and graphic attribute is not found (S5), the two-dimensional map data 1
The corresponding line Li of No. 4 is stored in the unprocessed storage device 26 as unprocessed data (S7). When generating the three-dimensional map data, the comparison device 18 also does not exist in the corresponding line of the original map data 10 but exists only in the two-dimensional map data 14, and the distance between the two lines is larger than the allowable error. The line points of the dimensional map data 14 (points added / changed by the editing device 16) are estimated by the interpolation method from the height data of each point of the corresponding line of the original map data 10.

I is the number N of line data of the two-dimensional map data 14.
Steps S2 to S7 are repeated until i is exceeded, that is, until all line data of the two-dimensional map data 14 is compared with the original map data 10 (S8).

FIG. 7 shows a detailed flowchart of the comparison process (S4). A loop variable j designating the line Lj of the original map data is initialized to 0 (S11) and incremented (S12). When the variable j is equal to or less than the line data number Nj of the original map data 10 (S13), the line data Lj is read from the original map data 10 (S14). The maximum value x _max (j) of the x coordinate of the element point of the line data Lj is the line data Li.
When it is smaller than the minimum value x _min (i) of the x coordinate of the element point of (S15), logically, the line data Li and the line data Lj
Since there is no possibility of correspondence, the j is incremented (S12) and the next line data Lj is read from the original map data 10 (S14). As a result, the processing target data in the original map data 10 can be reduced. From a similar perspective, x
_{Even if max} (i) is smaller than x _min (j), there is no possibility of corresponding, and thus the process after S16 may be passed.

When x _max (j) is greater than or equal to x _min (i), it is checked whether the graphic attribute of Lj matches the graphic attribute of Li (S16). When the graphic attribute of Lj does not match the graphic attribute of Li (S16), j is incremented (S12) and the next line data Lj is read from the original map data 10 (S14).

If the graphic attributes match (S16), the line L
The closest point is searched between i and Lj (S17), and the matching rate M is calculated (S18). When the matching rate M is less than or equal to the predetermined threshold value Mlim (S19), it is determined that they do not match, and S12 and subsequent steps are repeated. When the matching rate M exceeds the predetermined threshold value Mlim (S19), the line Lj is the line Li.
It is determined that the response value corresponds to, and "success" is set to the return value (S20), and the process returns to the flow shown in FIG.

Even if all the lines Lj of the original map data are examined, the line L
If the line Lj corresponding to i cannot be found (S13), "
"Failure" is set as the return value (S21), and the process returns to the flow shown in FIG.

FIG. 8 shows the nearest neighbor point search process (S1 in FIG. 7).
7 shows a detailed flowchart of 7). A variable p that specifies each element point P of the line Li is initialized (S31) and incremented (S32). The coordinate value (x, y) of the element point Pp of the line Li is read (S33). Each element point Q of the line Lj
The variable q for specifying is initialized (S34) and incremented (S35). The coordinate values (x,
y) is read (S36). The distance D between Pp and Qq is calculated (S37).

At the first point (q = 1) (S38), the line L
The distance value D calculated in step S37 is stored in the array Dist (p) that stores the distance D of the p-th element point Pp of i from the line Lj (S40), and the p-th element point of the line Li is stored. An array PQ that stores the element points of the line Lj corresponding to Pp
Q is stored in (p) (S40). This Dist (p)
Becomes the initial value of the distance between the p-th element point Pp of the line Li and Lj. Dist (p) at the start of this flow
If is initialized in advance with an unprecedentedly large value, the branch of step S38 becomes unnecessary. Always D <Di
This is because st (p) holds and Dist (p) is replaced with the first D.

At the second point of Lj and thereafter, that is, q> 1, (S
38), Dist the distance D calculated in step S37
It is compared with (p) (S39). When D is smaller than Dist (p) (S39), the q-th point Qq of Lj is closer to Pp of Li, so D is substituted into Dist (p) and q is substituted into PQ (p). (S40).

The processes of steps S35 to S40 are repeated until q reaches the number Vq of all element points of Lj, that is, until all the points of Lj are compared with Pp (S41).

The processes of steps S32 to S41 are repeated until p reaches the total number of element points Vp of Li, that is, until all the points of Li are compared with the line Lj (S42).

FIG. 9 shows the matching rate calculation (S1
8 shows a detailed flowchart of 8). The variables p and q are initialized (S51), and p is incremented (S52).
Dist (p) is compared with a predetermined threshold value Dlim (S5
3), if Dist (p) is smaller than Dlim, q
Is incremented (S54). S52 to S54 are repeated until p reaches the total number Vp of elements of the line Li (S55). When p reaches the total number of elements Vp of the line Li (S55), p / Vp is set as the return value as the matching rate M, and the process returns to FIG.

FIG. 10 is a detailed flowchart of the three-dimensional map data creation process (S6) of FIG.

First, the attribute A of the line Lj of the original map data 10
j is substituted for the variable Ar indicating the graphic attribute of the corresponding line data of the target three-dimensional map data 24 (S61).

When the matching rate M is equal to 1.0 (S
62), since corresponding points have been found on the line Lj for all the element points of Li, the two-dimensional map data 14
Of the two-dimensional map data 14 is adopted as the y-coordinate value, and the y-coordinate value of the line Lj of the original map data 10 is adopted as the z-coordinate value. The z coordinate value Qz (PQ (p)) of the point PQ (p) corresponding to Pp is adopted (S66). Step S6 until p changes from 1 to Vp
6 is executed (S63 to S66), and the result is output as a file to the three-dimensional map data 24 (S67).

When the matching rate M is not equal to 1.0 (S62), 1 of the line data Li of the two-dimensional map data 14 is used.
At the above point P, the distance Disp with the element point of the line data Lj
It means that (p) was Dlim or more. Therefore, for the point P whose distance Dist (p) from the element point of the line data Lj is less than the threshold value Dlim (S71), the step S
Similar to 66, the z-coordinate value includes the line L of the original map data 10.
j coordinate value Qz (P) of point PQ (p) corresponding to Pp of j
Q (p)) is adopted (S72). Point P whose distance Dist (p) from the element point of the line data Lj exceeds the threshold value Dlim
(S71), z of the corresponding point of the original map data 10
Since the coordinate value Qz (PQ (p)) is unreliable, interpolation (or extrapolation) is performed from z coordinate values of a plurality of adjacent points on the same line Lj (S73). In either case, the x-coordinate value is the x-coordinate value Px (p) of the two-dimensional map data 14, and the y-coordinate value is the y-coordinate value Py (p) of the two-dimensional map data 14.
Is adopted (S72, S73). Step S72 or S73 is executed until p changes from 1 to Vp (S68 to S
73), and the result is added to the three-dimensional map data 24 (S67).

FIG. 11 shows a flow chart of a computer program for realizing the function of the comparison device 20. Ne
Indicates the number of unprocessed line data of the two-dimensional map data 14 stored in the unprocessed storage device 26.

Here, since the line data Li of the two-dimensional map data 14 stored in the unprocessed storage device 26 is targeted, when the loop variable i reaches Ne (S88), the process is terminated. Also, the line data L of the two-dimensional map data 14
When comparing i with each line data Lj of the original map data 10 (S84), the graphic attribute is not considered. Original map data 10
The line Li that can be compared with is deleted from the unprocessed storage device 26 (S87). The operation excluding these is the same as that in FIG. 6, and thus detailed description will be omitted.

FIG. 12 shows a flowchart of a computer program for realizing the function of the comparison device 22. Ne
Indicates the number of unprocessed line data of the two-dimensional map data 14 stored in the unprocessed storage device 26.

All the element points forming all the line data of the original map data 10 are sorted in ascending order by their x coordinate values (S9).
1).

The loop variable i indicating the line data Li of the two-dimensional map data 14 stored as unprocessed in the unprocessed storage device 26 is initialized (S92) and incremented (S93).

The variable p indicating the element points forming the line data Li is initialized, and the array variable Dist () indicating the distance between the element point Pp and the corresponding element point of the original map data 10 is so large as to be impossible. Initialize with a value (S94). p
Is incremented (S95). Until p reaches the total number Np of element points of the line data Li (S96), the p-th element point Pp of the line data Li is read from the two-dimensional map data 14 (S97), and the nearest point is searched from the original map data ( S98).

When the nearest points are searched for all the element points of the line data Li (S96), the matching rate M is checked (S).
99). If the matching rate M exceeds the predetermined value Mlim (S100), three-dimensional data is output (S10).
1) If the matching rate M is less than or equal to the predetermined value Mlim (S100), the line Li is newly stored in the unprocessed storage device 26 as unprocessed data (S102). Alternatively, the line data Li that outputs three-dimensional data is stored in the unprocessed storage device 2
It may be deleted from the memory of 6.

Until i becomes equal to Ne, that is, until all line data Li of the two-dimensional map data 14 stored as unprocessed in the unprocessed storage device 26 at the start is examined (S103), step S93 and subsequent steps are repeated. .

FIG. 13 shows the nearest neighbor point search process (S
98) shows a detailed flowchart of (98). Since the comparison is made in the unit of element points of the line, the flow is more complicated than that shown in FIG. It is assumed that the total number of element points of all line data of the original map data 10 is Nq.

A variable q indicating an element point of all line data of the original map data 10 is initialized (S110). The x coordinate value Px (p) of the element point Pp so that the nearest point can be found at high speed.
Then, as long as Px (p) ≧ Qx (q) −Dlim is satisfied between the x coordinate value Qx (q) of the element point Qq, q is incremented by 100 (S112 to S115). Dlim is a threshold value of the distance determined as the corresponding point.

When q exceeds Nq (S113) and when Px (p) becomes smaller than Qx (q) -Dlim, 100 is subtracted from q (S116). By this processing, the range in which the nearest neighbor points are present can be limited, and the number of sequential searches can be reduced. As a result, the nearest neighbor points can be found at high speed. The x coordinate value is the distance threshold Dli
If the distance is more than m, the distance between Pp and Qq is naturally Dl.
Since the distance is greater than im, it is sufficient to compare only the x coordinate values in step S115. Of course, the y coordinate value may be adopted instead of the x coordinate value.

Since the range in which the nearest neighbor points exist can be limited by the processing of steps S112 to S116, the nearest neighbor points are searched while increasing q by 1 (S117-
S125).

That is, q is incremented (S11
7) The element points Qq of the line are read from the original map data 10 (S119). The difference between the x coordinate value Qx (q) of the element point Qq and the x coordinate value Px (p) of the element point Pp is Dist.
If it is smaller than (p), that is, if Qx (q) -Px (p) <Dist (p) (S120), the distance D between Qq and Pp is calculated (S121). Since Dist (p) has been initialized with an unprecedentedly large value, first in step S12.
When executing 0, step S120 is always established and the distance D is calculated.

D is the distance D calculated in step S121.
It is compared with ist (p) (S122). D is Dist
If it is smaller than (p) (S122), D is assigned to Dist (p), q is assigned to the array PQ (p) indicating the correspondence between the element points Pp and Qq (S123), and the process returns to S117. , S117 and subsequent steps are repeated. When D is Dist (p) or more (S122), the process immediately returns to S117 and S117.
Repeat the above.

In step S120, Qx (q) -Px
When (p) is greater than or equal to Dist (p) (S12
0), qq closer to Pp even if q is increased more
Cannot be found, the process returns to the flow shown in FIG. This is because all the element points of the original map data have been sorted in ascending order by their x coordinate values in step S91.

After incrementing q (S1
17) and q are N indicating the total number of element points of the original map data 10.
If it is larger than q (S118), it means that all the element points Qq of the original map data 10 have been exhausted, and in this case as well, the process returns to the flow shown in FIG.

FIG. 14 shows a flowchart of a computer program for realizing the function of the height interpolation device 28.

Of the line data of the created 3D map data 24, the faces formed by the line data other than the lines showing the graphic attributes of the building do not overlap each other and are triangular faces that use the lines as sides. Forming a triangular network divided by (S13
1).

A variable i indicating the point where the height (z) should be set is initialized (S132) and incremented (S13).
3), the point data Pi indicated by the variable i (in addition to the isolated points,
Contains element points of line data. ) Is read from the two-dimensional map data 14 (S134). A triangular surface including the point Pi is searched (S135). Z of the point Pi on the discovered triangular surface
The coordinate values are interpolated from the vertex coordinates of the triangular surface (S136), and P
The x coordinate and y coordinate of i and the z coordinate calculated in step S136 are added to the three-dimensional map data 24 (S1).
37). If the triangular surface cannot be found in step S135, the operator manually specifies the triangular surface or manually inputs the height itself.

When steps S133 to S137 have been executed for all the points for which heights should be set in the two-dimensional map data 14 (S138), the process ends.

FIG. 15 shows the triangular surface search process (S1 in FIG. 14).
35 is a detailed flowchart of (35). Nt is the total number of triangular surfaces formed by triangular mesh formation (S131). In this process, the triangular surface is previously defined by the three x points that compose it.
The maximum value Xmax of the coordinate values is sorted in ascending order.

A loop variable t designating a triangular surface is initialized to 0 (S141). The x-coordinate value P of the point Pi is set so that a triangular plane including the target point Pi can be found at high speed in the x and y planes.
As long as Xmax (t) ≧ Px (i) holds between x (i) and the maximum value Xmax (t) of the x coordinate values of the three points forming the t-th triangular surface, t is 100 units. Increment (S142 to S145). Dlim is a threshold value of the distance determined as the corresponding point.

When t exceeds Nt (S143) and when Xmax (t) becomes smaller than Px (i), 100 is subtracted from q (S146). By this processing, the range in which the nearest neighbor points are present can be limited, and the number of sequential searches can be reduced. As a result, the nearest neighbor points can be found at high speed. The maximum value xmax (t) of the x coordinate values of the three points forming the triangular surface is the x coordinate value Px of the point Pi.
(I) The point Pi may be included in the t-th triangular surface only after the above. Of course, the y coordinate value may be adopted instead of the x coordinate value.

Since the range in which the triangular surface including the point Pi exists can be limited by the processing of steps S142 to S145, thereafter, the target triangular surface is searched while increasing q by 1 (S147 to S150).

That is, q is incremented (S14
7), the q-th triangular surface is taken out (S149), and it is checked whether Pi is in the triangular surface (S150). If it is in the triangular plane (S150), the variable t is set to the return value Tk (S151), and the process returns to FIG. 14, and if it is not in the triangular plane (S150), q is incremented (S14).
7) Then, the next triangular surface is examined (S149, S150). q
14 is greater than or equal to Nt (S148), it means that all have been exhausted, so 0 is set to the return value Tk, and FIG.
Return to. Tk = 0 indicates that the triangular surface could not be found.

FIG. 16 shows a flowchart of a computer program for realizing the functions of the building three-dimensional processing device 30.

Of the line data of the created three-dimensional map data 24, the faces formed by the line data other than the lines showing the graphic attributes of the building do not overlap each other and are triangular faces that use the lines as sides. Forming a triangular network divided by (S16
1).

A variable i indicating the line data of the three-dimensional map data 24 is initialized (S162) and incremented (S162).
163). The line data Li is read from the three-dimensional map data 24 (S164), and it is checked whether the graphic attribute is a building (S165). When the graphic attribute is building (S16)
5) As described with reference to FIG. 5, a rectangular parallelepiped model is formed (S166), and the corresponding line data Li of the three-dimensional map data 24 is replaced with the data of the rectangular parallelepiped model (S167).

When steps S163 to S167 are executed for all line data of the three-dimensional map data 24 (S1
68) and ends.

The comparison device 18 may also refer to the unprocessed storage device 26 to determine the comparison target of the two-dimensional map data 14. In that case, first the raw storage device 26
However, it may be initialized so as to store all the data of the two-dimensional map data 14. In that case, by changing the storage content of the unprocessed storage device 26, it becomes easy to repeatedly apply the comparison device 18.

Further, in the above embodiment, the comparison devices 18, 2
Although 0 and 22 are applied in order, they may be applied in any order. For example, after applying the comparison devices 18 and 20, the comparison device 18 may be applied again.

[0099]

As can be easily understood from the above description, according to the present invention, after the original map data is converted into the two-dimensional data for correction and editing, the first to fifth processes are performed. By executing the operations in sequence, the three-dimensional map data is created by the automatic processing of all the programs.

That is, it is possible to avoid the labor-intensive work of directly correcting and editing the original map data in a three-dimensional state, and to add the three-dimensional map to the conventional two-dimensional map data with almost no labor. It is possible to create map data.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of an embodiment of the present invention.

FIG. 2 is an explanatory model diagram of a comparison operation by a comparison device 18.

FIG. 3 is an explanatory model diagram of a comparison operation by the comparison device 22.

FIG. 4 is a model diagram for explaining the operation of the height interpolation device 28.

5 is an operation explanatory model diagram of the building three-dimensional processing device 30. FIG.

FIG. 6 is a flowchart of a computer program that realizes the function of the comparison device 18.

FIG. 7 is a detailed flowchart of comparison processing (S4).

FIG. 8 is a detailed flowchart of nearest neighbor point search processing (S17) in FIG.

9 is a detailed flowchart of the matching rate calculation (S18) of FIG.

FIG. 10: Three-dimensional map data creation process of FIG. 6 (S6)
2 is a detailed flowchart of FIG.

11 is a flowchart of a computer program that realizes the functions of the comparison device 20. FIG.

FIG. 12 shows a flowchart of a computer program that realizes the functions of the comparison device 22.

13 is a detailed flowchart of the nearest neighbor point search process (S98) of FIG.

FIG. 14 is a flowchart of a computer program that realizes the function of the height interpolation device 28.

15 is a detailed flowchart of the triangular surface search process (S135) of FIG.

FIG. 16 is a flowchart of a computer program that realizes the functions of the building three-dimensional processing device 30.

[Explanation of symbols]

10: Storage device (original map data) 12: Two-dimensionalization device 14: Storage device (two-dimensional map data or two-dimensional data) 16: Editing device 18, 20, 22: comparison device 24: Storage device (three-dimensional map data) 26: Unprocessed storage device 28: Height interpolation device 30: Building three-dimensional processing device

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shigenori Sugiyama             Asahi Airways, 3-1-1 Higashiikebukuro, Toshima-ku, Tokyo             In Western corporation F-term (reference) 2C032 HB03 HC11 HC23                 5B050 AA01 BA09 BA10 BA17 EA18                       EA28 FA06 FA19 GA08                 5B057 AA13 CA13 CA17 CB12 CB17                       CD14 CF05 DA12

Claims (15)

[Claims] 1. A two-dimensional conversion step of generating height-removed two-dimensional map data from three-dimensional original map data composed of a plurality of map constituent data, and an editing step of editing the two-dimensional map data. A comparison step of comparing the original map data and the two-dimensional map data with a map configuration data unit and the same attribute, and corresponding horizontal coordinates of the map configuration data of the two-dimensional map data and the original map data. In the first comparison step of generating three-dimensional map data having the same attribute and the height of the map composition data, and in the comparison step of comparing the original map data and the two-dimensional map data in map composition data units. Then, corresponding to each other, the horizontal coordinates of the map configuration data of the two-dimensional map data, and the height of the map configuration data of the original map data,
A second comparison step of generating three-dimensional map data having the same attributes as the map constituent data of the two-dimensional map data, and the original map data and the two-dimensional map data in units of constituent points of the map constituent data. The contrasting step of comparing with
Generating three-dimensional map data having horizontal coordinates of the graphic configuration of the two-dimensional map data corresponding to each other, height of the map configuration data of the original map data, and attributes of the map configuration data of the two-dimensional map data The comparison step of 3 and the step of supplementing height data to predetermined data of the two-dimensional map data, showing the ground surface from the data forming the ground surface of the generated three-dimensional map data. A three-dimensional map data processing method, comprising: a height interpolation step of forming a polyhedron and generating three-dimensional data in which the height is interpolated with respect to predetermined data of the two-dimensional map data. 2. The map composition data is any one of line data having a start point and an end point, line data having a start point, an end point and one or more intermediate points, and closed line data having two or more intermediate points. The three-dimensional map data processing method according to claim 1. 3. The first comparing step stores in the unprocessed storage means the map configuration data of the two-dimensional map data for which the corresponding map configuration data could not be found from the original map data, and The three-dimensional map data processing method according to claim 1, wherein the comparing step compares the map constituent data of the two-dimensional map data stored in the unprocessed storage means with the original map data. 4. The second comparison step stores in the unprocessed storage means the map configuration data of the two-dimensional map data for which the corresponding map configuration data could not be found from the original map data, and The three-dimensional map data processing method according to claim 1, wherein the comparing step compares the map constituent data of the two-dimensional map data stored in the unprocessed storage means with the original map data. 5. The third comparison step stores in the unprocessed storage means the map configuration data of the two-dimensional map data in which the corresponding map configuration data could not be found from the original map data, and within the height. The three-dimensional map data processing method according to claim 1, wherein the inserting step interpolates the height of the map constituent data of the two-dimensional map data stored in the unprocessed storage means. 6. At least one of the first, second, and third comparison steps is an element for which a corresponding element point cannot be found from the original map data in the map configuration data of interest of the two-dimensional map data. The three-dimensional map data processing method according to claim 1, wherein height data is inferred from a point adjacent to a corresponding map constituent element of the original map data with respect to the point. 7. A building three-dimensionalization processing step for three-dimensionalizing map configuration data showing a building in the generated three-dimensional map data, wherein the ground surface of the generated three-dimensional map data is configured. A three-dimensional building process that forms a polyhedron indicating the ground surface from the data to be generated, generates data indicating the wall surface from the projection of the map configuration data indicating the building onto the ground surface, and supplements the map configuration data indicating the building. The three-dimensional map data processing method according to claim 1, further comprising steps. 8. A two-dimensional processing means for generating height-removed two-dimensional map data from three-dimensional original map data composed of a plurality of map constituent data, and an editing means for editing the two-dimensional map data. , A comparison means for comparing the original map data and the two-dimensional map data with a map constituent data unit and the same attribute,
First comparison means for generating three-dimensional map data having the horizontal coordinates of the map configuration data of the two-dimensional map data, the height of the map configuration data of the original map data, and the same attribute, which correspond to each other; Comparing means for comparing the original map data and the two-dimensional map data on a map configuration data unit basis, and corresponding to each other, the horizontal coordinates of the map configuration data of the two-dimensional map data and the map configuration of the original map data. Second comparison means for generating three-dimensional map data having a height of data and the same attribute as the attribute of the map configuration data of the two-dimensional map data, and the map configuration of the original map data and the two-dimensional map data. Comparing means for comparing in units of data constituent points, corresponding to each other, the horizontal coordinates of the graphic configuration of the two-dimensional map data and the map configuration data of the original map data. Third comparing means for generating three-dimensional map data having height and the same attributes as the map constituent data of the two-dimensional map data, and height data is supplemented to predetermined data of the two-dimensional map data. A polyhedron indicating the ground surface is formed from the data constituting the ground surface in the generated three-dimensional map data, and the height is interpolated with respect to the predetermined data of the two-dimensional map data. A three-dimensional map data processing device, comprising: height interpolation means for generating three-dimensional data. 9. The map configuration data is selected from line data having a start point and an end point, line data having a start point, an end point and one or more intermediate points, and closed line data having two or more intermediate points. The three-dimensional map data processing device according to claim 8. 10. The three-dimensional map data processing apparatus according to claim 8, further comprising an unprocessed storage means for storing unprocessed data in the two-dimensional map data. 11. The second comparison means compares the map configuration data of the two-dimensional map data stored in the unprocessed storage means with the original map data and, in accordance with the comparison result, the unprocessed storage. The three-dimensional map data processing device according to claim 10, which updates the storage information of the means. 12. The third comparison means compares the map configuration data of the two-dimensional map data stored in the unprocessed storage means with the original map data, and according to the comparison result, the unprocessed data. The three-dimensional map data processing device according to claim 9 or 11, which updates the storage information of the storage means. 13. The three-dimensional according to claim 10, 11 or 12, wherein the height interpolating means interpolates a height of map constituent data of the two-dimensional map data stored in the unprocessed storage means. Map data processing device. 14. At least one of the first, second and third comparing means is an element for which a corresponding element point cannot be found from the original map data in the map configuration data of interest of the two-dimensional map data. The three-dimensional map data processing device according to claim 9, wherein height data is inferred from element points adjacent to corresponding map constituent elements of the original map data for the point. 15. A building three-dimensionalization processing unit that three-dimensionalizes map configuration data indicating a building in the generated three-dimensional map data, and configures the ground surface in the generated three-dimensional map data. A three-dimensional building process that forms a polyhedron indicating the ground surface from the data to be generated, generates data indicating the wall surface from the projection of the map configuration data indicating the building onto the ground surface, and supplements the map configuration data indicating the building. The three-dimensional map data processing device according to claim 9, further comprising means.