JP2007156777A - Map display device in navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a "map display device in navigation system" which displays change of a building or a road in real time on a map irrespective of existence of a signboard or traveling without performing rewriting of map data or replacement of a map disk. <P>SOLUTION: Vehicle forward scenery is photographed by an onboard camera 21 and a map image generation section 15 generates and displays a vehicle forward three-dimensional map image using three-dimensional map data. An image processing section 23 generates a three-dimensional image which consists of visible outlines such as a road and a building by processing an image acquired from the onboard camera. An image comparison section 25 compares a three-dimensional image obtained by carrying out image processing to a three-dimensional map image and detects different shape parts. A camera image cutoff section 26 cuts off a photographed image part corresponding to the different shape parts, and a synthetic section 17 synthesizes this cut off camera image into three-dimensional map image and displays it. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a map display device in a navigation system, and more particularly to a map display device in a navigation system that detects an inconsistent portion between actual and map data and displays the actual captured image combined with a map image.

  The navigation device reads map data according to the current position of the vehicle from a recording medium such as a CD-ROM, DVD, HDD, etc., draws it on the display screen, and displays the vehicle mark at a fixed position on the display screen for driving. In response, the map is scrolled. Map data includes (1) a road layer consisting of node data, road link data, intersection data, etc., (2) a background layer for displaying objects on the map, and (3) a name of the city, town, and village. A map image composed of the character layer and the like and displayed on the display screen is generated based on the background layer and the character layer, and map matching processing and guidance route search processing are performed based on the road layer. In addition to the above, the navigation device searches for a guidance route from the departure point to the destination and displays a route guidance function for displaying the guidance route on a map and a predetermined POI mark (landmark) on the map. It has a POI display function.

The map data stored in the recording medium becomes obsolete with the passage of time due to changes in topographic data due to construction of new roads, opening / closing of facilities, maintenance of residential land and other reasons.
For this reason, as a conventional technique, updated map data is stored in the nonvolatile memory of the navigation device for each region, a map of the region where the map data is updated is read from the nonvolatile memory, and a map of the region that is not updated is recorded. There is a technique for performing navigation control by reading from a medium (such as a CD-ROM) (see, for example, Patent Document 1).
Further, a method has been proposed in which map data is recorded in a map storage unit such as a hard disk HDD, and the map data in the hard disk HDD is rewritten with the latest map data when the map data is changed (Patent Document 2). reference). In this second prior art, the user acquires the difference between the new map data and the old map data from the center, or purchases an updated DVD that records the difference between the new map data and the old map data, and obtains the old map data on the hard disk HDD. It is updated with new map data.
It also identifies road signs (for example, one-way streets) and facility signboards from images taken with in-vehicle cameras, and corrects map data based on differences from traffic information and facility names obtained from map data, and places on maps. There is a technique for correcting a road by considering it as a new road by traveling on a road that is not (see Patent Document 3).
JP 2003-337027 A JP 2004-287705 A JP 2002-243469 A

In the prior art, there is a problem that the map display cannot be changed unless the map data is rewritten or the map disk is exchanged. In addition, there is a problem that only the difference in facilities with signboards can be dealt with, and that the rational data cannot be corrected unless the vehicle travels on a road that is not on the map.
From the above, the object of the present invention is to allow the driver to recognize changes in buildings or roads on the map in real time without rewriting the map data or exchanging the map disk, regardless of the presence or absence of signs or travel. That is.

  According to the present invention, in the map display device in the navigation system that displays a map image according to the vehicle position, the above-described problem is a vehicle-mounted camera that captures a landscape in front of the vehicle, and a three-dimensional map in front of the vehicle using three-dimensional map data. A map image generation unit that generates an image, an image processing unit that processes an image acquired from an in-vehicle camera to generate a three-dimensional image including an outline of a road, a building, and the like, and the three-dimensional map image and the image processing An image comparison unit for comparing different three-dimensional images to detect different shape portions, a camera image cut-out portion for cutting out the photographed image portions corresponding to the different shape portions, and synthesizing the cut-out camera images into the three-dimensional map image This is achieved by a map display device provided with a combining unit for display.

  Further, according to the present invention, the map display device in the navigation system that displays the map image according to the vehicle position uses the photograph image acquisition and storage unit that acquires and stores the photograph taken from the sky, and the map data. A map image generating unit that generates a planar map image around the vehicle, an image processing unit that performs image processing on a part of the photograph according to the vehicle position, and generates a planar image composed of outlines such as roads and buildings, the planar map An image comparison unit that detects a different shape portion by comparing an image and the planar image obtained by the image processing, a cutout portion that cuts out the photographic portion corresponding to the different shape portion, and the cutout photographic portion as the planar map This is achieved by a composition unit that composes and displays an image.

According to the present invention, a camera-captured image acquired from an in-vehicle camera is processed to generate a three-dimensional image composed of roads, buildings, and the like, and is different from a three-dimensional map image generated based on map data. Since the shape portion is detected and the camera-captured image portion corresponding to the different shape portion is cut out and combined with the three-dimensional map image and displayed, without rewriting the map data or replacing the map disk, In addition, it is possible to display changes in buildings or roads in real time regardless of the presence or absence of signs or travel.
In addition, according to the present invention, a part of a photograph taken from the sky is image-processed to generate a planar image composed of outlines such as roads and buildings, which is different from a planar map image generated using map data. Since the shape portion is detected and the photographic image portion corresponding to the different shape portion is cut out and combined with the planar map image and displayed, it is possible to rewrite the map data or replace the map disk. It is possible to display changes in buildings or roads in real time regardless of the presence or absence of signs or travel.

The present invention provides a map display device in a navigation system that displays a map image according to a vehicle position, and captures a landscape in front of the vehicle with an in-vehicle camera, and the map image generation unit uses the three-dimensional map data to generate a three-dimensional map in front of the vehicle A map image is generated and displayed on the screen. The image processing unit processes the image acquired from the in-vehicle camera to generate a three-dimensional image made of outlines such as roads and buildings, and the image comparison unit obtains the three-dimensional map image and the tertiary obtained by the image processing. The original image is compared to detect a different shape portion, the camera image cutout unit cuts out the photographed image portion corresponding to the different shape portion, and the combining unit combines the cut out camera image with the three-dimensional map image to create a screen. To display.

(A) First Embodiment FIG. 1 is a configuration diagram of a first embodiment of a map display device in the navigation system of the present invention. The vehicle position detection unit 11 measures the position of the vehicle by GPS and a self-contained navigation sensor, and the map read control unit 12 reads the three-dimensional map data around the vehicle position from the map storage medium 13 and stores it in the map memory 14. The three-dimensional map image generation unit 15 generates a three-dimensional map image using the map data read out to the map memory 14, and stores it in the three-dimensional map image memory (video RAM) 16. The synthesizing unit 17 reads out the three-dimensional map image drawn in the three-dimensional map image memory 16 and displays it on the display unit 18.

The in-vehicle camera 21 installed in the front part of the vehicle captures the scenery in front of the vehicle and stores it in the camera image memory 22. The image processing unit (1) generates a three-dimensional image composed of outlines of roads, buildings, etc. by processing a camera image by well-known edge detection image processing, and (2) image conversion processing to the three-dimensional image The image is converted to an image viewed from the same scale and the same scale as the 3D map image generated from the 3D map data, and (3) the 3D image is stored in the processed image storage unit 24. The image comparison unit 25 compares the three-dimensional map image generated by the three-dimensional map data stored in the three-dimensional map image memory 16 with the actual three-dimensional image stored in the processed image storage unit 24, and calculates different shape parts. Is input to the camera image cropping unit 26. The camera image cutout unit 26 cuts out the camera image portion corresponding to the input shape portion and inputs it to the combining unit 17. The combining unit 17 combines the input camera image with the three-dimensional map image and displays it on the display unit 18.
FIG. 2 is an example in which a mark MK indicating a shape difference portion and a camera image CMIG of an actual building BLD are overlaid on the three-dimensional map image TDMP. The three-dimensional map image TDMP shows only the road RD, but there are buildings around the road. FIG. 3 shows another example in which the actual camera image CMIG is superimposed on the 3D map image TDMP, and the camera image CMIG is superimposed and drawn at the position where the building BLD actually exists.

(B) Second Embodiment FIG. 4 is a block diagram of a second embodiment of the map display device in the navigation system of the present invention. The vehicle position detection unit 31 measures the position of the vehicle by GPS and a self-contained navigation sensor, and the map read control unit 32 reads map data around the vehicle position from the map storage medium 33 and stores it in the map memory 34. The urban area plane map image generating unit 35 generates an urban area plane map image using the map data read out to the map memory 34 and stores it in the urban area plane map image memory (video RAM) 36. The synthesizing unit 37 reads the city plan map image drawn in the city plan map image memory 36 and displays it on the display unit 38.
The aerial photograph acquisition and storage unit 41 acquires and stores a predetermined scale aerial photograph taken by the aircraft from the information center (external server) via the Internet. The number of aerial photographs is not limited to one per urban area, but the number required to cover a certain urban area.

The aerial photograph reading unit 42 extracts an aerial photograph corresponding to the vehicle position and stores it in the aerial photograph storage unit 43. The image processing unit 44 (1) reads an aerial photograph portion corresponding to the position of the own vehicle, and (2) processes a camera image by a well-known edge detection image processing to generate an urban ground plane image made of outlines such as roads and buildings (3) image conversion processing is performed on the urban area plane image so as to be the same scale as the urban area plane map image generated by the map data, and (4) the urban area plane image is stored in the processed image storage unit 45. To do. The image comparison unit 46 compares the city plan map image in which the map data stored in the city plan map image memory 36 is generated with the actual city plan image stored in the processed image storage unit 45, and detects a different shape portion. And input to the photographic image cutout unit 47. The photographic image cutout unit 47 cuts out a photographic image portion corresponding to the input shape portion and inputs it to the combining unit 37. The synthesizing unit 37 synthesizes the input camera image with the city plan map image and displays it on the display unit 38. The composite display method is superimposed and displayed in the same manner as in FIGS.
In the second embodiment, a satellite photograph taken by a satellite can be used instead of an aerial photograph taken by an aircraft.
As described above, according to the present invention, it is possible to recognize a change of a building or a road on a map in real time without rewriting map data or exchanging a map disk, and regardless of whether there is a signboard or traveling. Can be displayed.

1 is a configuration diagram of a first embodiment of a map display device in a navigation system of the present invention. FIG. This is an example in which a mark MK indicating a shape-difference portion and a camera image CMIG of an actual building BLD are overlaid on a three-dimensional map image TDMP. This is another example in which an actual camera image CMIG is overlaid on a three-dimensional map image TDMP. FIG. 6 is a configuration diagram of a second embodiment of the map display device in the navigation system of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle position detection part 12 Map reading control part 13 Map storage medium 14 Map memory 15 3D map image generation part 16 3D map image memory (video RAM)
17 Combining unit 18 Display unit 21 Car-mounted camera 22 Camera image memory 23 Image processing unit 24 Processed image storage unit 25 Image comparison unit 26 Camera image cropping unit

Claims (2)

In a map display device in a navigation system that displays a map image according to a vehicle position,
In-vehicle camera that captures scenery in front of the vehicle
A map image generator for generating a 3D map image ahead of the vehicle using the 3D map data;
An image processing unit that processes an image acquired from an in-vehicle camera and generates a three-dimensional image composed of outlines such as roads and buildings,
An image comparison unit for detecting different shape portions by comparing the three-dimensional map image and the three-dimensional image obtained by the image processing;
A camera image cutout unit that cuts out the captured image portion corresponding to the different shape portion;
A synthesizing unit that synthesizes and displays the clipped camera image on the three-dimensional map image;
A map display device characterized by comprising: In a map display device in a navigation system that displays a map image according to a vehicle position,
A photo image acquisition and storage unit that acquires and stores photos taken from the sky,
A map image generator for generating a planar map image around the vehicle using map data;
An image processing unit that performs image processing on a part of the photograph according to a vehicle position and generates a planar image including an outline of a road or a building;
An image comparison unit for comparing the planar map image and the planar image obtained by the image processing to detect different shape portions;
A cutout part for cutting out the photographic part corresponding to the different shape part;
A synthesizing unit that synthesizes and displays the cut-out photograph portion on the planar map image;
A map display device characterized by comprising:

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