JP2020204708A - Map information update system - Google Patents

Abstract

To provide a map information update system capable of updating a map reflecting the latest situation almost every day.SOLUTION: A map information update system holds map information, acquires an update location of a delivery ledger in which address information of a mail is updated sequentially in units of house number, sequentially acquires travel image data in time series regarding a photographing position corresponding to at least the acquired update location when each delivery vehicle is traveling, collects the acquired travel image data together with its photographing position information, refers to the photographing position information corresponding to the update location regarding each piece of the collected travel image data, detects difference on the images with the travel image data previously photographed at the same update location, and updates information based on the difference on the images at the detected update location for the held map information.SELECTED DRAWING: Figure 5

Description

The present invention relates to a map information updating system that sequentially updates existing map information based on traveling image data taken by a vehicle traveling on a road.

In recent years, applications that display a map on a screen and execute various operations via a PC, a smartphone, a tablet terminal, or the like have become widespread. Particularly in recent years, a so-called street view service has also been realized, which reproduces panoramic images of the entire circumference taken at various points on the road.

The map information displayed through such an application is acquired by performing image recognition processing on the image data taken about the actual road. In the past, it was common to use such image data captured through aerial photographs, but in recent years, in particular, there have been cases where traveling images taken from vehicles traveling on the road are used. It is increasing (see, for example, Patent Documents 1 and 2).

JP-A-2005-098853 JP-A-2010-156815

The disclosed technologies of Patent Documents 1 and 2 described above are all based on the premise that a high-performance omnidirectional shooting camera is mounted on a vehicle to create a highly accurate map. Such omnidirectional shooting cameras are generally expensive and can only be installed in a limited number of vehicles. For this reason, it takes a long time for a limited number of vehicles to travel on all the roads on the map. As a result, when focusing on a shooting point on a certain road, the running frequency of the limited vehicle equipped with the omnidirectional camera becomes extremely low, and the update interval of the map based on the shot running image becomes very low. There is a problem that it will be vacant for a long time.

If this update interval is vacant for a long period of time, there is a problem that if the road, building structure, civil engineering structure, or resident changes during that period, it will be delayed to be reflected on the map. Occurs. For example, even if a new road is opened, a new building is constructed, or a convenience store moves in as a new tenant of the building, this is the latest map. It will not be reflected.

Therefore, considering the convenience of users who use maps, it was necessary to propose a system that can utilize maps that reflect the latest situation almost every day.

In addition to this, when the delivery information consisting of the delivery ledger etc. is updated, if the map information can be updated only in the area where the update was performed, it has not been updated for many years. If there is a location, if the map information can be actively updated for that location, a more efficient system can be achieved, but this has not been proposed in the past. Met.

Therefore, the map information updating system and method to which the present invention is applied have been devised in order to solve the above-mentioned problems, and the purpose thereof is traveling photographed by a vehicle traveling on the road. In the map information update system that sequentially updates existing map information based on image data, the latest status is updated at an early stage by a map that reflects the status of the latest roads, building structures, civil engineering structures, residents, etc. Efficient system configuration by actively updating the map information when the delivery information is updated or when there is a part that has not been updated for many years. The purpose is to provide a map information update system that can be used.

The map information update system according to the first invention includes a map information holding means for holding map information, a delivery information update detecting means for acquiring an update location of delivery information in which the destination information of deliveries is sequentially updated for each address. It is mounted on each of the delivery vehicles of a plurality of deliveries, and when the delivery vehicles are traveling, travel image data is sequentially generated for at least the shooting position corresponding to the update location acquired by the delivery information update detection means. About the traveling image acquisition means to be sequentially acquired, the image collecting server that collects the traveling image data acquired by each traveling image acquiring means together with the shooting position information, and each traveling image data collected by the image collecting server. The difference detection means for detecting the difference on the image with the running image data previously captured at the same update point by referring to the shooting position information corresponding to the update point, and the map information holding means hold the data. The map information is provided with a map information updating means for updating information based on the difference on the image at the updated portion detected by the difference detecting means.

The map information update system according to the second invention includes a map information holding means for holding map information, a delivery information update detecting means for acquiring an update location of delivery information in which the destination information of deliveries is sequentially updated for each address. It is mounted on each of the delivery vehicles of a plurality of deliveries, and when the delivery vehicles are traveling, the travel image data is sequentially recorded at least for the shooting position corresponding to the update location acquired by the delivery information update detection means. For the traveling image acquisition means to be sequentially acquired and each traveling image data acquired by the traveling image acquisition means, the traveling that was previously imaged at the same updated location by referring to the shooting position information corresponding to the updated location. A difference detecting means for detecting a difference on the image with the image data, an image collecting server for collecting the difference on the image of the traveling image data acquired by each of the above difference detecting means together with the shooting position information, and a map. Map information update that updates information based on the difference on the image at the update location from the difference on the image of the running image data collected by the image collection server with respect to the map information held by the information holding means. It is characterized by having means.

The map information update system according to the third invention includes a map information holding means for holding map information, a delivery information update detecting means for acquiring an update location of delivery information in which the destination information of deliveries is sequentially updated for each address. The planned travel position information detecting means for detecting at least the planned travel position information for traveling at least the updated location acquired by the delivery information update detection means, and the delivery vehicle for a plurality of deliveries, which are mounted on each of the delivery vehicles. During traveling, the user is guided to the updated location based on the planned travel position information detected by the planned travel position information detecting means, and travel image data is sequentially acquired for the shooting position corresponding to the updated location in chronological order. The above-mentioned update points of the traveling image acquisition means, the image collection server that collects the traveling image data acquired by each traveling image acquisition means together with the shooting position information, and each traveling image data collected by the image collecting server. The difference detecting means for detecting the difference on the image with the traveling image data previously captured at the same updated location by referring to the above-mentioned shooting position information corresponding to the above, and the map held by the map information holding means. The information is provided with a map information updating means for updating the information based on the difference on the image at the updated portion detected by the difference detecting means.

The map information update system according to the fourth invention includes a map information holding means for holding map information, a delivery information update detecting means for acquiring an update location of delivery information in which the destination information of deliveries is sequentially updated for each address. The planned travel position information detecting means for detecting at least the planned travel position information for traveling at least the updated location acquired by the delivery information update detection means, and the delivery vehicle for a plurality of deliveries, which are mounted on each of the delivery vehicles. During traveling, the user is guided to the updated location based on the planned travel position information detected by the planned travel position information detecting means, and travel image data is sequentially acquired for the shooting position corresponding to the updated location in chronological order. With respect to the traveling image acquisition means and each traveling image data acquired by the traveling image acquiring means, the traveling image data previously captured at the same updated location by referring to the shooting position information corresponding to the updated location. A difference detecting means for detecting the difference on the image between the two, an image collecting server for collecting the difference on the image of the traveling image data acquired by each of the above difference detecting means together with the shooting position information, and a map information holding means. With respect to the map information held by the above, the map information updating means for updating the information based on the difference on the image at the update location from among the differences on the image of the traveling image data collected by the image collection server. It is characterized by being prepared.

The map information update system according to the fifth invention is mounted on a verification point extraction means for extracting verification points based on the update history of map information and a delivery vehicle for a plurality of deliveries, and is mounted on each delivery vehicle. A running image acquisition means that sequentially acquires running image data together with shooting position information during running, and an image collection server that collects running image data acquired by each of the above running image acquisition means together with the shooting position information. For each running image data collected by the image collecting server, the running image previously captured at the same verification point by referring to the shooting position information corresponding to the verification point extracted by the verification point extracting means. A difference detecting means for detecting a difference on an image with data, and a map information updating means for updating information based on an image difference at a verification location detected by the difference detecting means with respect to the map information. It is characterized by having and.

The map information update system according to the sixth invention is equipped with a verification point extraction means for extracting verification points based on the update history of map information and a delivery vehicle for a plurality of deliveries, respectively, of each delivery vehicle. The travel image acquisition means that sequentially acquires the travel image data together with the shooting position information during travel, and the verification of each travel image data acquired by the travel image acquisition means, which is extracted by the verification location extraction means. Acquired by the difference detecting means for detecting the difference on the image with the traveling image data previously captured at the same verification point by referring to the shooting position information corresponding to the location, and the difference detecting means respectively. From the image collection server that collects the difference on the image of the running image data together with the shooting position information, and the difference on the image of the running image data collected by the image collection server with respect to the map information. It is characterized by providing a map information updating means for updating information based on a difference on an image at the verification location.

The map information update system according to the seventh invention includes a verification point extraction means for extracting verification points based on the update history of map information, and a planned travel position information for at least traveling on the verification points extracted by the verification point extraction means. The planned travel position information detecting means for detecting the above, and the planned travel position information detected by the planned travel position information detecting means when the delivery vehicles are mounted on the delivery vehicles of a plurality of deliveries. The running image acquisition means that guides the user to the verification point based on the above and sequentially acquires the running image data for the shooting position corresponding to the verification point in chronological order, and the running image data acquired by each of the running image acquisition means. For each running image data collected by the image collection server and the image collection server that collects the image together with the shooting position information, the shooting position information corresponding to the verification point is referred to, and the image is previously captured at the same verification point. The difference detecting means for detecting the difference on the image with the running image data and the information based on the difference on the image at the verification point detected by the difference detecting means are updated with respect to the map information. It is characterized by being provided with a map information updating means.

The map information update system according to the eighth invention includes a verification point extraction means for extracting verification points based on the update history of map information, and a planned travel position information for at least traveling on the verification points extracted by the verification point extraction means. The planned travel position information detecting means for detecting the above and the planned travel position information detected by the planned travel position information detecting means when the delivery vehicles are mounted on each of the delivery vehicles and the delivery vehicles are traveling. About the running image acquisition means that is guided to the above verification point based on the above and sequentially acquires the running image data for the shooting position corresponding to the verification point in chronological order, and each running image data acquired by the running image acquisition means. , The difference in detecting the difference on the image with the running image data previously captured at the same verification location by referring to the shooting position information corresponding to the verification location extracted by the verification location extraction means. The detection means, the image collection server that collects the difference on the image of the traveling image data acquired by each of the difference detection means together with the shooting position information, and the image collection server for the map information. It is characterized by providing a map information updating means for updating information based on the difference on the image at the verification location from the difference on the image of the traveling image data.

The map information update system to which the present invention having the above-described configuration applies, captures travel image data from a delivery vehicle that patrols the same location on the road on a daily basis, and captures the previous travel at the same shooting position. By confirming the difference between the image data and the image, the update of the destination information at the shooting position is first grasped from the image. In addition, the update of the destination information is confirmed from the delivery information consisting of the delivery ledger, etc., without making only the judgment on the image. This delivery information is also updated almost every day, and especially in the case of address change, relocation, or new establishment, that fact is first reflected in the destination information.

In other words, you can get the running image data and delivery information that reflect the latest situation on a daily basis and check the update, and if you can check the update, the update content. Can be updated for map information.

Therefore, the map information update system to which the present invention is applied can reflect the latest road, building structure, civil engineering structure, resident, etc., in the map information, and the latest state is updated almost every day. It will be possible to update over.

Further, according to the present invention, when the delivery information is updated, the map information can be updated only in the area where the update is performed, and there are places where the update has not been performed for many years. If it exists, it is possible to actively update the map information for the relevant part.

It is a block diagram which shows the whole structure of the map information update system to which this invention is applied. It is a figure which shows the configuration example of the vehicle traveling on the road. It is a detailed block block diagram of an image pickup apparatus and a position information acquisition part. It is a block block diagram around an image collection server. It is a figure for demonstrating an example of acquiring the photographing position information with respect to the traveling image which was taken at a certain timing at the time of traveling. It is a figure which shows the example which detects the difference on the image between the two through the brightness of a pixel, etc. by the difference detection part. It is a figure for demonstrating the example of updating the map information by the map information update part. It is a flowchart which updates the map information based on the updated part of the acquired delivery ledger. It is another flowchart which updates the map information based on the updated part of the acquired delivery ledger. It is a flowchart which updates the map information based on the update history of the map information. It is another flowchart which updates the map information based on the update history of the map information. It is a figure which shows the example which acquires the combination association degree of 3 or more stages of the difference on an image, and the update of the map information with respect to the combination of acquired destination information in advance.

Hereinafter, the map information updating system to which the present invention is applied will be described in detail with reference to the drawings.
1st Embodiment

FIG. 1 is a block diagram showing an overall configuration of a map information updating system 1 to which the present invention is applied. The map information update system 1 is provided for each regional base, and has a relay server 10 that collects running image data captured in the area of the collection and delivery station under its umbrella, and a running image data collected in each relay server 10. It is provided with an image collection server 11 provided in the center for collecting data at one location. Traveling image data can be transmitted and received between the servers 10 and 11 by wired communication or wireless communication.

Further, the relay server 10 is capable of receiving traveling image data by wireless communication with the wireless base stations 12 stretched around in various places in the area under its jurisdiction.

As shown in FIG. 2, the radio base station 12 receives the travel image data from the vehicle 14 traveling on the road.

The vehicle 14 also includes a four-wheeled vehicle such as an automobile or a truck, a two-wheeled vehicle such as a motorcycle or a motorcycle, and the like. The vehicle 14 is a so-called delivery vehicle for delivering mail. The vehicle 14 includes an image pickup device 2 for capturing a traveling image and a position information acquisition unit 3 for acquiring a shooting position by the image pickup device 2. By the way, the vehicle 14 is not limited to the case of delivering mail, but includes a means of transportation for transporting all kinds of deliveries including a courier service. The vehicle 14 also includes means of transportation used in all transportation and logistics other than courier delivery to deliver deliveries.

FIG. 3 shows a detailed block configuration diagram of the image pickup device 2 and the position information acquisition unit 3.

The image pickup device 2 includes a control unit 21, an image pickup unit 22, an operation unit 23, a communication unit 24, and a storage unit 25 connected to the control unit 21, and further, the control unit 21 includes a position information acquisition unit. 3 is connected.

The control unit 21 has a CPU (Central Processing Unit) 211 and a memory 212 connected to the CPU 211, respectively.

The memory 212 is a storage means embodied as a ROM (Read Only Memory) or a RAM (Random Access Memory). The ROM stores a program for controlling the hardware resources of the entire image pickup apparatus 2. The RAM is also used as a work area used for data storage and expansion, and temporarily stores various commands for controlling the hardware resources of the entire image pickup apparatus 2.

The CPU 211 is a so-called central arithmetic unit for controlling all the components. The CPU 211 notifies each component of an instruction for reading a program stored in the memory 212 and performing various operations. For example, if the program stored in the memory 212 captures traveling image data in the 360 ° omnidirectional direction at regular time intervals, the command is executed for the imaging unit 22 based on this. Send a signal for Further, when the program stored in the memory 212 acquires the current position information at the same time as the imaging unit 22 captures the traveling image data, the command is executed for the imaging unit 22 and the position information acquisition unit 3. Send a signal for

Further, the CPU 211 executes control for transmitting the traveling image data imaged by the imaging unit 22 and temporarily stored in the storage unit 25 via the communication unit 24.

The image pickup unit 22 is composed of a lens (not shown) and an image pickup element, and is composed of a camera capable of acquiring an image in all directions over a 360 ° direction. The imaging timing by the imaging unit 22 is controlled by the CPU 211 in the control unit 21. The traveling image data in all directions captured by the imaging unit 22 is stored once in the storage unit 25. Incidentally, the imaging unit 22 is not limited to the case of acquiring an omnidirectional image, but also includes the case of acquiring an image of only one position.

The operation unit 23 is composed of a touch panel, buttons, levers, and the like for inputting operation information for operating the image pickup device 2. The operation unit 23 also includes a liquid crystal panel and the like for displaying various information to the user. The operation unit 23 sends the input operation information to the control unit 21. The control unit 21 performs various controls based on the operation information transmitted from the operation unit 23.

Under the control of the control unit 21, the communication unit 24 transmits the traveling image data captured by the image pickup unit 22 to the wireless base station 12 via wireless communication. The communication unit 24 also includes an antenna that performs frequency conversion and other various conversion processes necessary for performing wireless communication, converts an electric signal into a radio wave, or converts a radio wave into an electric signal. The communication unit 24 also has a function of receiving a signal from the radio base station 12, and when receiving a signal from the radio base station 12, sends the signal to the control unit 21.

The storage unit 25 is composed of a hard disk, a memory, or the like capable of storing running image data. The traveling image data is stored in the storage unit 25 under the control of the control unit 21, and the traveling image data stored under the control of the control unit 21 is read out.

The position information acquisition unit 3 acquires the current position information of the vehicle 14 in real time based on the satellite positioning signal sent from the artificial satellite. In the process of the vehicle 14 traveling on the road, the position information acquisition unit 3 receives the satellite positioning signal at any time, so that the position information at each point on the traveling road can be acquired. Further, by receiving the satellite positioning signal by the position information acquisition unit 3 at the timing of imaging the image by the image pickup unit 22, it is possible to acquire the position information at the imaging point of the image. When the position information acquisition unit 3 actually receives the sanitary positioning signal, and by extension, the position information is acquired, the control unit 21 controls it. Therefore, it is possible to acquire the position information at the imaging point by controlling the acquisition timing of the satellite positioning signal by the position information acquisition unit 3 and the imaging timing by the imaging unit 22 at the same time through the control unit 21. Become.

FIG. 4 shows a block configuration around the image collection server 11. The image collection server 11 includes a map information holding unit 31, a delivery ledger information acquisition unit 32, a difference detection unit 33, a consistency collation unit 34, and a map information update unit 35.

The map information holding unit 31 stores map information including a map of Japan and a map of each country in the world. The map information referred to here is embodied in a two-dimensional map that describes the map in a plane, a three-dimensional map that describes the map in three dimensions, and a street view image consisting of a panoramic image of the entire circumference taken at a point on the road. It is configured as electronic data. Based on such map information, it is possible to display a map on the screen via a PC, smartphone, tablet terminal, etc., and by extension, it is possible to execute various operations on this displayed map through an application. It becomes. The map information holding unit 31 may acquire the electronic data of the map posted on the Internet from the initial map information, or the electronic data of the map distributed free of charge or commercially available. May be obtained. The map information obtained and held by the map information holding unit 31 in this way will be updated at any time by the map information updating unit 35, which will be described later.

The delivery ledger information acquisition unit 32 acquires a delivery ledger at any time, in which the address information of the mail is sequentially updated for each street address. This delivery ledger is prepared by the post office and contains a list of residents of all residents in the area by street address. In the address information in this delivery ledger, the householder's name, the company name, etc. are described with respect to the street number and the room number. In the address information, not only the names of the residents of all the rooms of the apartment house but also the names of the residents of all the rooms of the apartment house are listed in units of room numbers. With the address information in this delivery ledger, the delivery person can confirm the current residence of the addressee by comparing it with the mail in the station before the delivery departs. In addition to such residents, the destination information in the delivery ledger also includes information on companies and stores that are occupying as tenants. Further, in this destination information, information about a building, a condominium, a detached house, etc. is newly described in the destination information.

The address information in this delivery ledger is usually reflected immediately when there is a change in the address of residents, tenants, etc., and if a new address is created due to the construction of a new road, etc., this is also immediately registered. In addition, any changes in the content due to new construction or repair of building structures will be reflected immediately. The delivery ledger information acquisition unit 32 acquires such a delivery ledger every day or once every few days. Therefore, the delivery ledger information acquisition unit 32 can acquire the destination information with the latest status updated.

By the way, the delivery ledger information acquisition unit 32 is not limited to the delivery ledger managed at the post office, but is managed by the delivery company that undertakes the delivery business by courier and the carrier that handles the distribution business, respectively. Delivery information in which the resident list of residents is described in units of addresses may also be included in the management target. In the following example, the case of acquiring and updating the delivery ledger managed by the post office will be described as an example.

The difference detection unit 33 detects the difference on the image of each running image data collected by the image collection server from the running image data previously captured at the same shooting position. This difference on the image is performed on a pixel-by-pixel basis or on a block-by-block basis composed of a plurality of pixels, and the presence or absence of the difference is determined based on the brightness and the like by applying the conventional image processing technique.

The consistency collation unit 34 collates the consistency of the difference on the image detected by the difference detection unit 33 with the destination information at the address corresponding to the shooting position where the difference is detected. Consistency with this destination information is performed by referring to the delivery ledger acquired by the delivery ledger information acquisition unit 32. When the consistency is collated, the consistency collation unit 34 notifies the map information update unit 35 to that effect.

When the consistency is collated by the consistency collation unit 34, the map information updating unit 35 updates the information based on the difference on the image with respect to the map information held by the map information holding unit 31. Note that the map information updating unit 35 is not limited to the case where the consistency is collated by the consistency collating unit 34, and the map information is held by the map information holding unit 31 in conjunction with any other system. It may be updated.

Next, an operation example of the map information updating system 1 to which the present invention is applied will be described.

It is premised that the vehicle 14 equipped with the image pickup device 2 and the position information acquisition unit 3 is a delivery vehicle for delivering mail as described above. For this reason, the vehicle 14 travels almost every day in various places within its jurisdiction in order to deliver mail. In the process in which the vehicle 14 travels, the imaging unit 22 in the imaging device 2 captures a traveling image in all directions, and the position information acquisition unit 3 acquires the position information. The control unit 21 controls the imaging timing of the traveling image and the position information acquisition timing by the position information acquisition unit 3 at the same time. As a result, the position information acquired by the position information acquisition unit 3 corresponds to the time when the traveling image is captured. Hereinafter, the position information corresponding to the time when the traveling image is captured is referred to as the shooting position information.

The imaging unit 22 captures the traveling image and the position information acquisition unit 3 continuously acquires the imaging position information. As a result, as shown in FIG. 5, it is possible to acquire the photographing position information (x1, y1) for the traveling image P1 captured at a certain timing t1 during traveling. The shooting position information (x2, y2) can be acquired for the running image P2 captured at the next timing t2. Similarly, the shooting position information (xn, yn) can be acquired for the running image Pn captured at the next timing tn.

The image pickup apparatus 2 transmits the traveling image Pn captured at each timing tn and the shooting position information (xn, yn) to the outside via the communication unit 24, respectively. The traveling image Pn and the shooting position information (xn, yn) are sent to the image collection server 11 via the relay server 10. As a result, the image pickup device 2 sends the traveling image Pn and the shooting position information (xn, yn) in chronological order from the vehicle 14 to the timing t1 to the timing tn. As a result, the traveling images P1 to Pn in the respective shooting position information (x1, y1) to (xn, yn) are accumulated in the image collection server 11.

Further, the traveling image Pn and the shooting position information (xn, yn) captured by the image pickup device 2 mounted on all the vehicles 14 are sent to the image collection server 11. As a result, if each vehicle 14 patrolls within its own jurisdiction, the traveling image Pn and the shooting position information (xn, yn) captured from the roads of all the jurisdictions are sent to the image collection server 11. It will be accumulated sequentially in series.

The image collection server 11 executes a processing operation for difference detection described below via the difference detection unit 33 with respect to the traveling image Pn and the shooting position information (xn, yn) accumulated in this way. ..

The difference detection unit 33 detects the difference on the image of the newly acquired running image data from the running image data previously captured at the same shooting position. In the case of the above-described example of FIG. 5, when the running image data P2 captured at the timing t2 is newly acquired, the previously captured running image data is read out at the same shooting position (x2, y2). If the running image data P2'imaged at the same shooting position (x2, y2) on the previous day is acquired, the difference on the image between the running image data P2 and the running image data P2' Is detected. By the way, the identity of the shooting position between the running image data P2 and the running image data P2'is determined based on the shooting position information associated with each of them. The difference detection unit 33 may detect the difference on the image by using a deep learning technique.

When the difference detection unit 33 detects the difference on the image between the two through, for example, the brightness of the pixels, for example, as shown in FIG. 6, the traveling image data P2 has a new signboard of "○ × Shoji". It is assumed that the listed points are detected as differences on the image. Since the running image data P2'captured the day before did not have this "○ × Shoji" sign, this was detected as a difference on the image. In other words, this suggests that a new "○ × Shoji" sign was put up from the day before to today.

The difference detection unit 33 causes a difference on the image based on the change between the running image data P2 and the running image data P2'at different shooting positions (x2, y2) at the same shooting position. When it is detected, the consistency collation unit 34 refers to the delivery ledger acquired by the delivery ledger information acquisition unit 32. Since the address information of the mail is updated almost every day in the delivery ledger information acquisition unit 32 for each address, the latest information about the resident can be acquired by accessing the address information. The consistency collation unit 34 accesses the delivery ledger information acquisition unit 32 and confirms the destination information of the address corresponding to the shooting position (x2, y2). From the viewpoint of improving the convenience of actually confirming the address information of the address with respect to the shooting position, a correspondence table between the address and the shooting position information may be provided in the delivery ledger information acquisition unit 32. In this correspondence table, for example, if the shooting position information is represented by latitude and longitude, the latitude and longitude may be assigned to each address.

As a result of confirming the destination information, the consistency collation unit 34 newly finds that the address corresponding to the shooting position is "○ × Shosha", that the resident has moved to that address, which is a difference on the image. In addition, it can be seen from the delivery ledger information that it was confirmed. That is, it can be seen that the consistency on the image detected by the difference detection unit 33 and the destination information at the address corresponding to the detected shooting position are collated.

In such a case, the map information updating unit 35 indicates the resident of the address (shooting position x2, y2) with respect to the map information held by the map information holding unit 31 as shown in FIG. Update to.

From the viewpoint of enhancing the convenience of consistency confirmation, the consistency collation unit 34 accesses the delivery ledger information acquisition unit 32 at any time, and when it is newly updated, acquires the updated information. You may try to keep it.

Further, the delivery ledger information acquisition unit 32 may accumulate past delivery ledger information in chronological order. As a result, it is possible to read and confirm whether or not the address corresponding to the shooting position has been updated to "○ × Shoji" as the destination information of the delivery ledger as in this case. It is possible to improve the convenience of the collation work described above.

Further, according to the present invention, when character information such as a signboard is reflected in such a difference on an image, the character information is used as a character string by utilizing deep learning technology or a well-known character recognition technology. You may try to recognize the contents. Then, the consistency between the recognized character string and the destination information in the delivery ledger may be confirmed, and the identity may be confirmed.

By the way, the difference on the image is when a building structure such as a building or a house is newly constructed or a civil engineering structure such as a tunnel or a bridge is newly completed in addition to the signboard reflecting such text information. Is the same. For example, if a building that was under construction is newly completed and can be moved in, the difference in the image will be that it will appear between the building before the scaffolding etc. was removed and the completed building where the scaffolding was removed. become. Even when such a difference on the image can be detected, the consistency collation unit 34 similarly accesses the delivery ledger information acquisition unit 32 and confirms the address information of the address corresponding to the shooting position of the building. To do. When the building is completed and it becomes possible to move in, it will naturally be updated in the delivery ledger, so by comparing it with this, it is possible to confirm the consistency of the destination information and confirm the identity. Become.

The same applies when a new road is constructed, and the difference on the image can be detected between the image before the road is completed and the image when the road is completed. In such a case, the consistency collation unit 34 accesses the delivery ledger information acquisition unit 32 and confirms the destination information of the address corresponding to the road. If the address where the road is newly established is updated, that fact will naturally be updated in the delivery ledger, so it is possible to confirm the consistency and identity of the destination information by comparing it with this. It will be possible.

After the collation by the consistency collation unit 34 is completed in this way, the map information update unit 35 sequentially updates the map information held by the map information holding unit 31.

The map information updating system 1 to which the present invention is applied captures such traveling image data from a delivery vehicle that patrols the same location on the road on a daily basis, and captures the previous traveling image at the same shooting position. By confirming the difference between the data and the image, the update of the destination information at the shooting position is first grasped from the image. In addition, the update of the destination information is confirmed from the delivery ledger, not just the judgment on the image. This delivery ledger is also updated almost every day, and especially in the case of address change, relocation, or new establishment, that fact is first reflected in the destination information.

In other words, it is possible to acquire both the running image data that reflects the latest situation and the destination information of the delivery ledger on a daily basis and check the update, and if the update can be confirmed, The updated contents can be updated with respect to the map information.

Therefore, the map information update system 1 to which the present invention is applied can reflect the latest road, building structure, civil engineering structure, resident, etc. in the map information, and the latest state is updated almost every day. It is possible to update over.

The map information updating system 1 to which the present invention is applied updates not only the two-dimensional map as shown in FIG. 7 described above but also the three-dimensional map and the street view image when updating the map information. There may be. Since the traveling image data captures an image in the 360 ° direction in all directions, it is possible to acquire a three-dimensional shape of a building structure or a civil engineering structure, and this can be reflected on a map. For example, when it is confirmed that the building structure shown in the traveling image data P2 of FIG. 6 has been newly constructed, the shape of the building structure is drawn on the three-dimensional map when updating the map information. You may. The three-dimensional shape of the building structure will be drawn based on the image of the captured traveling image data.

Similarly, when updating the street view, for example, when the signboard "○ × Shoji" is newly updated in the running image data P2 of FIG. 6, the running image data P2 reflecting the signboard “○ × Shoji” is used as it is. You may update it as Street View.

In the above-described embodiment, the traveling image data captured in the image pickup apparatus 2 has been described as an example of being transmitted to the image collection server 11 via the communication unit 24 as it is, but the description is limited to this. It's not something. In the image pickup apparatus 2, the difference on the image may be detected from the traveling image data previously captured at the same shooting position. In such a case, a configuration corresponding to the difference detection unit 33 described above is provided in the image pickup apparatus 2. Then, each time the running image data is imaged, the shooting position information is referred to, and the running image data previously captured at the same shooting position is read out and the difference on the image is compared. When a difference on the image is detected, the detected difference on the image is transmitted to the image collection server 11 via the communication unit 24.

As a result, if only the difference on the image and the shooting position information are transmitted via the communication unit 24, the amount of data transmitted can be significantly reduced, and the efficiency of the entire system can be improved. it can.

The image collection server 11 receives the difference on the image, confirms the destination information of the address corresponding to the shooting position, and updates the map information.

By the way, according to the present invention, the traveling image data is acquired every day when the delivery vehicle is traveling, and the delivery ledger acquired every day is referred to to obtain the acquisition date of the traveling image data and the update date of the delivery ledger. It is premised that the matching dates are collated after matching, but the present invention is not limited to this, and the running image data and the delivery ledger may be acquired every few days.

Second Embodiment Hereinafter, a second embodiment of the map information updating system 1 to which the present invention is applied will be described. In this second embodiment, it is common to proceed with updating the map information based on the same concept as in the first embodiment described above, but the location and timing for detecting the difference on the image are delivered. The difference is that it is based on the history information of the map information or when the original book is updated. In the second embodiment, the same components, actions, and effects as those in the first embodiment will be omitted below by quoting the description of the first embodiment.

FIG. 8 is a flowchart showing a map information update process according to the second embodiment.

Step S11 is an operation of updating the map information by the map information updating unit 35. The map information updating unit 35 updates the map information held by the map information holding unit 31 when the consistency is collated by the consistency collating unit 34 or when it is linked with any other system. Are being performed in sequence.

Step S12 corresponds to the process of acquiring the delivery ledger information by the delivery ledger information acquisition unit 32. The delivery ledger information acquisition unit 32 acquires a delivery ledger at any time, in which the address information of the mail is sequentially updated for each street address. The address information in this delivery ledger is reflected when the contents are changed such as address change of residents and tenants, new construction of roads, new construction and repair of building structures, etc., and the delivery ledger information acquisition unit 32 is responsible for this delivery ledger. Continue to obtain daily or once every few days. Therefore, the delivery ledger information acquisition unit 32 continuously acquires the destination information whose latest status is updated.

Such updates in steps S11 and 12 will be performed at any time independently of each other. Further, in parallel with these updates, the vehicle 14 equipped with the image pickup device 2 and the position information acquisition unit 3 travels almost every day in various places in its own jurisdiction in order to deliver the mail. The image of the traveling image and the acquisition of the position information are sequentially performed in chronological order (step S13). In addition, the traveling image captured by each vehicle 14 will be collected in the image collection server 11 together with the shooting position information (step S14).

It is assumed that the delivery ledger information acquisition unit 32 updates the delivery ledger in step S12 while the processes of steps S13 to 14 are being performed. In such a case, the delivery ledger before the update and the delivery ledger after the update are compared, and the update location is detected. That is, when the address information of the mail is newly updated for each address in the updated delivery ledger, a difference is generated from the delivery ledger before the update, and this difference can be detected as the updated location.

When such an updated part is detected, the process proceeds to step S15, and the shooting position information corresponding to the updated part is referred to. Then, the traveling image data captured for the shooting position corresponding to the updated portion is acquired from the image collection server 11. Since the running image data is stored in the image collection server 11 in association with the shooting position information, the running image data (hereinafter, referred to as “hereinafter,”) in which the shooting position is captured via the shooting position information corresponding to the updated location. It is possible to acquire the running image data of the updated part).

Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. The method of detecting the difference on the image is the same as that of the first embodiment.

In step S16, when the difference detection unit 33 detects a difference on the image between the two via, for example, the brightness of the pixels, the location is an update location that has already been updated in the delivery ledger. It can be seen from the delivery ledger information that some change occurred at that address, in addition to the difference on the image. That is, the consistency between the difference on the image detected by the difference detection unit 33 and the destination information at the address corresponding to the shooting position where the difference is detected is collated at this stage. By the way, in order to accurately verify these differences, it is desirable that the images to be compared are taken under the same shooting conditions as much as possible. Therefore, whether or not the shooting information indicating the shooting conditions of the images for which the differences are compared is common, or if they are not common, image correction may be performed to match them.

Next, the process proceeds to step S17, and the map information updating unit 35 updates the updated portion of the map information held by the map information holding unit 31. That is, as in the first embodiment, the update location of the original map information is updated based on the difference on the image extracted in step S16.

In such a second embodiment as well as in the first embodiment described above, the map information can reflect the latest conditions of roads, building structures, civil engineering structures, residents, etc., and is in the latest state. It will be possible to update things almost every day.

In the flowchart shown in FIG. 8, steps S14, 15 and 16 may be interchanged. That is, after step S13, the process proceeds to step S15, and the shooting position information corresponding to the updated portion in step S12 is referred to. Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. After that, the process proceeds to step S14, and the difference on the image is collected by the image collection server 11 together with the shooting position information. At this stage, the consistency between the difference on the image detected by the difference detection unit 33 and the destination information at the address corresponding to the detected shooting position is collated at this stage.

After that, the process proceeds to step S17, and the map information is updated with respect to the updated portion.

FIG. 9 is another flowchart showing the map information update process in the second embodiment. The same operation and process as in FIG. 8 described above in FIG. 9 will be omitted below by quoting the description in FIG.

If the delivery ledger information acquisition unit 32 updates the delivery ledger in step S12 and detects an updated location during the process of step S13 described above, the updated location is found in step S13. At least detect the planned travel position information. Ideally, the update location specified by the planned travel position information exists on the route for delivering the mail when the vehicle 14 actually travels, but if there is no update location on the delivery route. Alternatively, the delivery route may be reset so that the vehicle 14 having the delivery route closer to the update location will intentionally travel on the update location.

When delivering the mail, the vehicle 14 is guided by the planned travel position information and travels at the updated location. This guidance may be provided based on a car navigation system or the like. The vehicle 14 guided to the update location sequentially acquires running image data for the shooting position corresponding to the update location in chronological order. Further, with respect to the shooting position corresponding to the update location by each vehicle 14, the traveling image captured by the vehicle 14 is collected in the image collection server 11 together with the shooting position information (step S14).

Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. Next, the process proceeds to step S17, and the map information updating unit 35 updates the updated portion of the map information held by the map information holding unit 31.

In the flowchart shown in FIG. 9, steps S14 and 16 may be interchanged. That is, after step S13, the process proceeds to step S16, and the difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. After that, the process proceeds to step S14, and the difference on the image is collected by the image collection server 11 together with the shooting position information. At this stage, the consistency between the difference on the image detected by the difference detection unit 33 and the destination information at the address corresponding to the detected shooting position is collated at this stage.

FIG. 10 is another flowchart showing the map information update process in the second embodiment. In FIG. 10, the same operation and process as in FIG. 8 described above will be omitted below by quoting the description in FIG.

While the process of step S13 described above is being performed, tentatively, in step S11, the update history of the map information performed by the map information update unit 35 is confirmed. From the update history of the map information by the map information updating unit 35, the map information including the verification points requiring verification is acquired, and the verification points are extracted from the map information. For the map information that needs to be verified, based on the update history of the map information, the map information that has not been updated for a longer period, in other words, the older map information may be acquired. This is because the so-called old map information, which has not been updated for a long period of time, often requires re-verification. Further, the verification location may be composed of all or a part of the map information that needs to be verified.

However, in acquiring the map information including the verification part in this step S11, if it is based on the update history, the map information for which the update is not performed is longer, in other words, the map information is older. The verification part included in the map information at any update time may be acquired without limitation.

If a verification location is extracted from the map information that needs to be verified in step S11 while the processes of steps S13 to 14 are being performed, the process proceeds to step S15 and the shooting position information corresponding to the verification location is referred to. To do. Then, the traveling image data captured for the shooting position corresponding to the verification location is acquired from the image collection server 11. Since the running image data is stored in the image collection server in association with the shooting position information, the running image data (hereinafter, verification) in which the shooting position is captured via the shooting position information corresponding to the verification location. It is possible to acquire running image data of a location).

Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the verification location and the running image data previously captured at the same shooting position. The method of detecting the difference on the image is the same as that of the first embodiment.

In step S16, when the difference detection unit 33 detects a difference on the image between the two via, for example, the brightness of the pixel, the location is already a verification location that needs to be verified in the map information. It can be seen from the map information that some change occurred at the location, in addition to the difference on the image. That is, the consistency of the difference on the image detected by the difference detection unit 33 and the verification portion where the difference is detected is collated at this stage. On the other hand, if no difference on the image is detected, it is judged that there is no particular change in the verification location, and the map information is not particularly updated.

Next, the process proceeds to step S17, and the map information updating unit 35 updates the updated portion of the map information held by the map information holding unit 31.

In the flowchart shown in FIG. 10, steps S14, 15 and 16 may be interchanged. That is, after step S13, the process proceeds to step S15, and the shooting position information corresponding to the updated portion in step S12 is referred to. Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. After that, the process proceeds to step S14, and the difference on the image is collected by the image collection server 11 together with the shooting position information. After that, the process proceeds to step S17, and the map information is updated with respect to the updated portion.

FIG. 11 is another flowchart showing the map information update process in the second embodiment. In FIG. 11, the same operation and process as in FIG. 10 described above will be omitted below by quoting the explanation in FIG.

If the verification location is extracted in step S11 while the process of step S13 described above is being performed, at least the planned travel position information for traveling through the verification location is detected in step S13. Ideally, the verification location specified by the planned travel position information exists on the route for delivering the mail when the vehicle 14 actually travels, but if there is no verification location on the delivery route. Alternatively, the delivery route may be reset so that the vehicle 14 having a delivery route closer to the verification location will dare to travel on the verification location.

In delivering the mail, the vehicle 14 is guided by the planned travel position information and travels at the verification point. This guidance may be provided based on a car navigation system or the like. The vehicle 14 guided to the verification point sequentially acquires running image data for the shooting position corresponding to the verification point in chronological order. Further, with respect to the shooting position corresponding to the verification point by each vehicle 14, the traveling image captured by the vehicle 14 is collected in the image collection server 11 together with the shooting position information (step S14).

Next, the process proceeds to step S16, and a difference on the image is detected between the running image data of the verification location and the running image data previously captured at the same shooting position. Next, the process proceeds to step S17, and the map information updating unit 35 updates the updated portion of the map information held by the map information holding unit 31. On the other hand, if no difference on the image is detected, it is judged that there is no particular change in the verification location, and the map information is not particularly updated.

In the flowchart shown in FIG. 11, steps S14 and 16 may be interchanged. That is, after step S13, the process proceeds to step S16, and the difference on the image is detected between the running image data of the updated portion and the running image data previously captured at the same shooting position. After that, the process proceeds to step S14, and the difference on the image is collected by the image collection server 11 together with the shooting position information.

Further, the map information updating system 1 to which the present invention is applied may execute the actual consistency determination based on the scheme described below.

In this scheme, as shown in FIG. 12, the degree of combination association of three or more stages of the difference on the image and the update of the map information with respect to the acquired combination of destination information is acquired in advance. This combination association degree is an index showing how strongly the difference on the image and the update of the map information with respect to the acquired destination information are related.

The update of the map information referred to here indicates what kind of update is actually reflected in the map information. For example, the update c is a change of the resident to a specific address in the map information. It may be set to add an update, or update d may be set to update a building name set at a specific address in the map information. In addition, update e may indicate that a new road has been constructed and as a result, a new address has been set.

In the combination linkage degree shown in FIG. 12, a set of combinations of one or more differences on the image and one or more acquired destination information is expressed as so-called hidden layer nodes 61a to 61e. Each of the nodes 61a to 61e is set with a weighting for the difference on the image, the acquired destination information, and a weighting for updating the map information as an output solution.

This weighting is a combination linkage degree of three or more stages. For example, in the node 61a, the difference P51 on a certain image is associated with a combination association degree of 80%, and the acquired destination information: address change is associated with 80%. In the node 61c, the difference P52 on the image is associated with a combination association degree of 60%, the acquired destination information: no update is associated with a combination association degree of 60%, and the acquired destination information: resident change is associated with a combination association degree of 40%. ing. The degree of combination linkage may be configured by a neural network.

Such combination association degree is acquired in advance. Then, when trying to update the map information, the difference on the image constituting the combination and the destination information are acquired.

The search program performs an operation of selecting one or two or more updates c to g of map information as the optimum solution from the output solutions based on the acquired difference on the image and the destination information. In selecting this optimum solution, the combination association degree shown in FIG. 12 acquired in advance is referred to. For example, if the difference on the acquired image is P51 and the acquired destination information is the update of the building name, the node 61b is associated through the combination association degree, and the update e is the combination association of the node 61b. The degree 60% and the update g are associated with a combination association degree 40%. The optimum solution is searched for based on such combination linkage. It is not necessary to output the optimum solution having the highest degree of combination association, and the solution having the lower degree of combination association may be selected. Of course, other than this, an output solution to which the arrows are not connected may be selected. That is, the selection of the output solution is not limited to the case where the combination linkage degree is selected in order from the one having the highest combination linkage degree, and the combination linkage degree may be selected in order from the one having the lowest combination linkage degree depending on the case. However, it may be selected in any other priority.

As described above, according to the present invention, it is possible to efficiently search for a method of updating map information for which a new search is attempted. In particular, according to the present invention, it is possible to easily search for a method for updating map information without requiring special skill. Further, according to the present invention, it is possible to search for a method for updating map information with higher accuracy. Further, by constructing the above-mentioned combination linkage degree by artificial intelligence, it is possible to further improve the discrimination accuracy by learning this.

Further, the present invention is characterized in that a patent or a group of patents is searched for through a combination linkage degree set to three or more stages. The degree of combination linkage can be described by a numerical value from 0 to 100%, for example, but is not limited to this, and may be configured at any stage as long as it can be described by a numerical value of 3 or more stages. ..

By searching based on the combination association degree represented by the numerical values of three or more stages, the search is performed in descending order of the combination association degree in the situation where the determination result of the method for updating a plurality of map information is selected. It is also possible to display it. If the user can be displayed in descending order of the degree of combination association in this way, it is possible to prompt the user to preferentially select the determination result of the more probable update method of the map information. On the other hand, even the determination result of the update method of the map information having a low degree of combination association can be displayed in the meaning of the second opinion, and can be useful when the analysis cannot be performed well by the first opinion.

In addition to this, according to the present invention, it is possible to determine without overlooking the determination result of the update method of the map information having an extremely low degree of combination association such as 1%. Even patents or patent groups with extremely low degree of combination association are connected as a slight sign, and may be useful as a discrimination result of patents or patent groups once every tens or hundreds of times. It is possible to alert the user.

Further, according to the present invention, there is an advantage that the search policy can be determined by the method of setting the threshold value by performing the search based on the combination linkage degree of three or more stages. If the threshold value is lowered, even if the above-mentioned combination association degree is 1%, it can be picked up without omission, but it is unlikely that the determination result of the map information update method can be detected favorably, and a lot of noise is picked up. It may end up. On the other hand, if the threshold value is raised, there is a high possibility that the determination result of the optimum map information update method can be detected with high probability, but the combination linkage degree is low and it is passed through, but once every tens or hundreds of times. In some cases, the suitable solution that comes out is overlooked. It is possible to decide which one should be emphasized based on the ideas of the user side and the system side, but it is possible to increase the degree of freedom in selecting the points to be emphasized.

Further, the degree of association between these combinations may be learned by the artificial intelligence. Similarly, the degree of association with the patent or the patent group for the combination with the patent specific information and the incidental information may be learned by artificial intelligence.

As a result of applying the present invention, the difference on the image with respect to the update of the map information selected by the user or the system and the relationship with the acquired destination information are acquired, and the above-mentioned combination linkage degree is updated based on this. That is, relationships selected by the user or system are updated with high relevance, and relationships not selected by the user or system are updated with low relevance. For this update, artificial intelligence, neural networks, or the like may be used. This update may be performed periodically or irregularly each time a new difference on the image is acquired.

1 Map information update system 2 Imaging device 3 Location information acquisition unit 10 Relay server 11 Image collection server 12 Radio base station 14 Vehicle 21 Control unit 22 Imaging unit 23 Operation unit 24 Communication unit 25 Storage unit 31 Map information holding unit 32 Delivery ledger information Acquisition unit 33 Difference detection unit 34 Consistency collation unit 35 Map information update unit 211 CPU
212 memory

Claims (8)

Map information holding means for holding map information and
Delivery information update detection means for acquiring the update location of delivery information, in which the destination information of deliveries is sequentially updated for each street address,
It is mounted on each of a plurality of delivery vehicles, and when each delivery vehicle is traveling, traveling image data is chronologically displayed at least for a shooting position corresponding to an update location acquired by the delivery information update detection means. Driving image acquisition means to be acquired sequentially,
An image collection server that collects the running image data acquired by each of the above running image acquisition means together with the shooting position information, and
For each running image data collected by the image collection server, the difference on the image is different from the running image data previously captured at the same updated location by referring to the shooting position information corresponding to the updated location. Difference detection means to detect
Map information characterized in that the map information held by the map information holding means is provided with a map information updating means for updating information based on the difference on the image at the updated portion detected by the difference detecting means. Update system. Map information holding means for holding map information and
Delivery information update detection means for acquiring the update location of delivery information, in which the destination information of deliveries is sequentially updated for each street address,
It is mounted on each of a plurality of delivery vehicles, and when each delivery vehicle is traveling, traveling image data is chronologically displayed at least for a shooting position corresponding to an update location acquired by the delivery information update detection means. Driving image acquisition means to be acquired sequentially,
For each running image data acquired by the running image acquisition means, the shooting position information corresponding to the updated portion is referred to, and the running image data previously captured at the same updated portion is displayed on the image. Difference detection means for detecting differences and
An image collection server that collects the difference on the image of the running image data acquired by each of the above difference detection means together with the shooting position information, and
Map information that updates information based on the difference on the image at the update location from the difference on the image of the running image data collected by the image collection server with respect to the map information held by the map information holding means. A map information update system characterized by having an update means. Map information holding means for holding map information and
Delivery information update detection means for acquiring the update location of delivery information, in which the destination information of deliveries is sequentially updated for each street address,
The planned traveling position information detecting means for detecting at least the planned traveling position information for traveling on the updated portion acquired by the delivery information update detecting means, and the planned traveling position information detecting means.
It is mounted on each of a plurality of delivery vehicles, and when each delivery vehicle is traveling, it is guided to the update location based on the planned travel position information detected by the planned travel position information detecting means. A running image acquisition means that sequentially acquires running image data in chronological order for the shooting position corresponding to the updated location,
An image collection server that collects the running image data acquired by each of the above running image acquisition means together with the shooting position information, and
For each running image data collected by the image collection server, the difference on the image is different from the running image data previously captured at the same updated location by referring to the shooting position information corresponding to the updated location. Difference detection means to detect
Map information characterized in that the map information held by the map information holding means is provided with a map information updating means for updating information based on the difference on the image at the updated portion detected by the difference detecting means. Update system. Map information holding means for holding map information and
Delivery information update detection means for acquiring the update location of delivery information, in which the destination information of deliveries is sequentially updated for each street address,
The planned traveling position information detecting means for detecting at least the planned traveling position information for traveling on the updated portion acquired by the delivery information update detecting means, and the planned traveling position information detecting means.
It is mounted on each of a plurality of delivery vehicles, and when each delivery vehicle is traveling, it is guided to the update location based on the planned travel position information detected by the planned travel position information detecting means. A running image acquisition means that sequentially acquires running image data in chronological order for the shooting position corresponding to the updated location,
For each running image data acquired by the running image acquisition means, the shooting position information corresponding to the updated portion is referred to, and the running image data previously captured at the same updated portion is displayed on the image. Difference detection means for detecting differences and
An image collection server that collects the difference on the image of the running image data acquired by each of the above difference detection means together with the shooting position information, and
Map information that updates information based on the difference on the image at the update location from the difference on the image of the running image data collected by the image collection server with respect to the map information held by the map information holding means. A map information update system characterized by having an update means. Verification location extraction means that extracts verification locations based on the update history of map information,
A traveling image acquisition means that is mounted on each of a plurality of delivery vehicles and sequentially acquires traveling image data together with shooting position information during traveling of each delivery vehicle.
An image collection server that collects the running image data acquired by each of the above running image acquisition means together with the shooting position information, and
For each running image data collected by the image collection server, the running image data previously captured at the same verification location is referred to with reference to the shooting position information corresponding to the verification location extracted by the verification location extraction means. A difference detection means that detects the difference on the image between
A map information updating system characterized in that the map information is provided with a map information updating means for updating information based on a difference on an image at the verification location detected by the difference detecting means. Verification location extraction means that extracts verification locations based on the update history of map information,
A traveling image acquisition means that is mounted on each of a plurality of delivery vehicles and sequentially acquires traveling image data together with shooting position information during traveling of each delivery vehicle.
For each running image data acquired by the running image acquiring means, the running that was previously imaged at the same verification point by referring to the shooting position information corresponding to the verification point extracted by the verification point extracting means. A difference detecting means for detecting a difference on an image with image data,
An image collection server that collects the difference on the image of the running image data acquired by each of the above difference detection means together with the shooting position information, and
The map information is provided with a map information updating means for updating information based on the difference on the image at the verification location from the difference on the image of the traveling image data collected by the image collecting server. A featured map information update system. Verification location extraction means that extracts verification locations based on the update history of map information,
The planned traveling position information detecting means for detecting at least the planned traveling position information for traveling on the verification location extracted by the verification location extracting means, and the planned traveling position information detecting means.
It is mounted on each of a plurality of delivery vehicles, and when the delivery vehicle is traveling, the vehicle is guided to the verification location based on the planned travel position information detected by the planned travel position information detecting means. A running image acquisition means that sequentially acquires running image data for the shooting position corresponding to the verification location in chronological order,
An image collection server that collects the running image data acquired by each of the above running image acquisition means together with the shooting position information, and
For each running image data collected by the image collection server, the difference on the image is different from the running image data previously captured at the same verification location by referring to the shooting position information corresponding to the verification location. Difference detection means to detect
A map information updating system characterized in that the map information is provided with a map information updating means for updating information based on a difference on an image at the verification location detected by the difference detecting means. Verification location extraction means that extracts verification locations based on the update history of map information,
The planned traveling position information detecting means for detecting at least the planned traveling position information for traveling on the verification location extracted by the verification location extracting means, and the planned traveling position information detecting means.
It is mounted on each of a plurality of delivery vehicles, and when the delivery vehicle is traveling, the vehicle is guided to the verification location based on the planned travel position information detected by the planned travel position information detecting means. A running image acquisition means that sequentially acquires running image data for the shooting position corresponding to the verification location in chronological order,
For each running image data acquired by the running image acquiring means, the running that was previously imaged at the same verification point by referring to the shooting position information corresponding to the verification point extracted by the verification point extracting means. A difference detecting means for detecting a difference on an image with image data,
An image collection server that collects the difference on the image of the running image data acquired by each of the above difference detection means together with the shooting position information, and
The map information is provided with a map information updating means for updating information based on the difference on the image at the verification location from the difference on the image of the traveling image data collected by the image collecting server. A featured map information update system.

Images