JP3211823U - Indoor map construction device - Google Patents

Abstract

[PROBLEMS] To collect indoor map information while moving inside a target facility so that a consistent and accurate indoor map can be constructed, and at the same time, figure and correct the map. A construction device is provided. An indoor map construction apparatus scans an inside of a target facility for constructing an indoor map and collects scan information about each point in the target facility, direction information and acceleration information about each point An acceleration information collection unit that collects video information, a video information collection unit that collects video information about each point, and a mobile computer unit that constructs an indoor map of a target facility based on scan information, direction information, acceleration information, and video information . [Selection] Figure 2

Description

  The following embodiments relate to an apparatus that collects information necessary to provide an indoor location-based service and constructs an indoor map.

  Recently, as the number of subway / bus routes increases along with the development of transportation facilities and public facilities, complex shopping centers where movie theaters, shopping, bookstores, etc. gather have increased. As a result, the scale of subway stations and shopping centers has become extremely large, making it difficult for users to find the destination they want.

  Furthermore, for the convenience of users, a bus terminal is connected to a complex shopping center or department store. Thus, as the scale of traffic and public facilities increases, indoor maps of facilities are constructed using surveying methods so that users can reach their desired destination.

  Thus, when the surveying method is used, a large number of personnel are required for actual measurement of the target building for which an indoor map is to be created, and the time required for surveying increases as the target building becomes larger and more complex. In addition, when many people survey, the error occurrence rate at the time of drawing work increases, and the accuracy of the indoor map decreases. In addition, the map of the indoor map may be different for each surveyor, and the quality of the finally constructed map may be different.

  As a result, there is a need for a technology that can construct an indoor map quickly and accurately while minimizing the manpower required when constructing an indoor map to make the quality of the map consistent.

  An object of the present invention is to provide an indoor map construction device that can collect information for constructing an indoor map while moving inside the target facility so that a consistent indoor map is constructed. is there.

  Another challenge of the present invention is to reduce the error of graphic work that occurs during the production of indoor maps, and simultaneously collect information while moving inside the target facility so that an indoor map can be constructed quickly and accurately. It is to provide an indoor map construction apparatus that can perform graphics and correction.

  In the indoor map construction device according to an embodiment of the present invention, a scan information collection unit that scans the inside of a target facility to construct an indoor map and collects scan information about each point inside the target facility, An acceleration information collection unit that collects direction information and acceleration information, a video information collection unit that collects video information about each point, and an indoor map of the target facility based on the scan information, direction information, acceleration information, and video information The mobile computer unit may be included.

  According to one aspect, the scan information collection unit, the acceleration information collection unit, the video information collection unit, the mobile computer unit, and the power supply unit are mounted, and the interior of the target facility is moved to construct the indoor map. A moving means may be further included.

  According to another aspect, the mobile computer unit may perform a graphic operation indicating an outline connecting each point and a fixed object fixed in the target facility while moving in the target facility. .

  According to another aspect, the mobile computer unit drives a robot operating system (ROS) so that spatial information about the inside of the target facility is based on the scan information, direction information, and acceleration information. May be generated.

  According to another aspect, the mobile computer unit may correct an error generated when generating the spatial information using the direction information and acceleration information transmitted in real time from the acceleration information collection unit.

  According to another aspect, the acceleration information collection unit may collect the direction information and the acceleration information using an IMU (Internal Measurement Unit) sensor while moving inside the target facility.

  According to still another aspect, the apparatus may further include a power supply unit that supplies power to the scan information collection unit, the acceleration information collection unit, the video information collection unit, and the mobile computer unit.

  By collecting information for constructing an indoor map while moving inside the target facility, a consistent indoor map can be constructed with less human power.

  By drawing and correcting simultaneously with collecting information while moving inside the target facility, it is possible to reduce the error of the drawing work that occurs during the production of the indoor map, and to construct the indoor map quickly and accurately.

It is the illustration which showed the indoor map construction apparatus in one Embodiment of this invention. It is the block diagram which showed the indoor map construction apparatus in one Embodiment of this invention. It is the exemplary figure which showed the outline inside a target facility for construction of an indoor map in one embodiment of the present invention. It is the flowchart which showed the example of the indoor map construction method in one Embodiment of this invention. It is a block diagram for demonstrating the internal structure of the indoor map construction apparatus in one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is an exemplary diagram showing an indoor map construction device according to an embodiment of the present invention.

  Referring to FIG. 1, an indoor map construction apparatus according to the present invention is for constructing an indoor map inside a building quickly and accurately with a small amount of human power. An information collection unit 102, an acceleration information collection unit 103, a video information collection unit 104, a mobile computer unit 105, and a power supply unit 106 may be included.

  The moving means 101 may move inside the target facility for information collection in a state where each device necessary for constructing an indoor map inside the target facility is deferred. Here, as the moving means 101, a stroller, a shopping cart, a hand cart, or the like may be used so that the inside of the target facility can be easily moved while wearing a device such as a sensor.

  As an example, a scan information collection unit 102 and an acceleration information collection unit 103 are mounted on a safety bar of a stroller, a power supply unit 106 is mounted on a stroller chair, a mobile computer unit (Mobile Computing Unit) 105 and an image are mounted on the handle of the stroller. An information collecting unit 104 may be attached. At this time, the video information collection unit 104 may be attached to the mobile computer unit 105.

  As a result, when the stroller moves inside the target facility, various devices for constructing the indoor map attached to the stroller move together, collecting information, and using the collected information, You may build a map. The scan information collection unit 102, the acceleration information collection unit 103, and the video information collection unit 104 may be used for collecting information for building an indoor map.

  In addition, the mobile computer unit 105 may construct an indoor map of the target facility using information collected by the scan information collection unit 102, the acceleration information collection unit 103, and the video information collection unit 104.

  The power supply unit 106 may supply power to each device mounted on the moving unit 101. The power supply unit 106 supplies power to the scan information collection unit 102, the acceleration information collection unit 103, and the video information collection unit 104 so that information for constructing the indoor map can be stably collected. Good. For example, the power supply unit 106 may be realized by a battery.

  The power supply unit 106 may additionally supply power to the mobile computer unit 105.

  For example, assume that the mobile computer unit 105 includes its own power source. At this time, when the mobile computer unit 105 consumes a large amount of battery for building an indoor map, the power supply unit 106 may additionally supply power to the mobile computer unit 105. Thereby, even if the battery of the mobile computer unit 105 itself is exhausted, the mobile computer unit 105 can continuously receive power supply from the power supply unit 106, so that an indoor map can be stably constructed.

  FIG. 2 is a block diagram illustrating an indoor map construction device according to an embodiment of the present invention.

  Referring to FIG. 2, the indoor map construction apparatus 200 may include a scan information collection unit 201, an acceleration information collection unit 202, a video information collection unit 203, a mobile computer unit 204, and a power supply unit 205. Although not shown in FIG. 2, the indoor map construction device 200 may further include a moving means for attaching each device necessary for indoor map construction and moving inside the target facility.

  The power supply unit 205 supplies power to the scan information collection unit 201, the acceleration information collection unit 202, and the video information collection unit 203 so that information for constructing the indoor map can be collected stably. Good. The power supply unit 205 may supply additional power to the mobile computer unit 204.

  The scan information collection unit 201 may collect scan information regarding each point in the target facility by scanning the inside of the target facility using a laser scanner (Laser Scanner).

  As an example, when the moving unit moves inside the target facility, scanning may be performed while moving inside the target facility using a 3D (Dimension) laser scanner, a laser sensor, or the like attached to the moving unit. For example, the scan information collection unit 201 may collect the scan information by scanning the space of 270 degrees in front and 30 m while moving inside the target facility. As described above, the scan information collection unit 201 may collect scan information regarding the entire target facility by scanning the space at predetermined distances.

  Further, the scan information collection unit 201 may transmit the collected scan information to the mobile computer unit 204 by wire or wirelessly in order to generate spatial information regarding the target facility.

  The acceleration information collection unit 202 may collect direction information and acceleration information regarding each point in the target facility using an IMU sensor used for inertial measurement.

  As an example, the acceleration information collection unit 202 may be attached to a moving unit together with the scan information collection unit 201 and may move inside the target facility for building an indoor map. Accordingly, the acceleration information collection unit 202 may collect the direction information and the acceleration information at the same time when the scan information collection unit 201 scans the inside of the target facility. For example, the acceleration information may include a speed at which the moving unit moves inside the target facility. Also, the direction information may include a rotation angle so that the direction change can be detected.

  At this time, the collected acceleration information may be used to correct errors such as fine vibration due to movement when scanning the inside of the target facility. For example, when a 3D laser scanner is attached to a baby stroller or the like and moves inside the target facility for scanning, fine vibration may occur due to the movement. As a result, the mobile computer unit 204 may correct the current position of the stroller, which is a means for moving inside the target facility, based on the acceleration information collected by the acceleration information collection unit 202. Further, the mobile computer unit 204 may correct the graphic error inside the target facility due to the movement by reflecting the movement distance corresponding to the error information indicating the degree of fine vibration in the graphic work.

  The video information collection unit 203 may collect video information regarding each point in the target facility by photographing the inside of the target facility using a camera. For example, a panorama camera may be attached to the moving means or the mobile computer unit 204.

  Accordingly, the video information collection unit 203 may collect the video information at a point where the scan information is collected while moving inside the target facility through the moving unit. For example, the video information may include a moving picture or a photograph of the inside of the target facility. In addition, the video information collection unit 203 may transmit the collected video information to the mobile computer unit 204 in order to construct an indoor map.

  As described above, the information for constructing the indoor map is collected using the laser sensor, the IMU sensor, and the camera, so that the mobile computer unit 204 automatically generates spatial information inside the target facility through the sensor. Then, information regarding a point of interest (POI) that is difficult to detect may be acquired using a camera. For example, the mobile computer unit 204 may acquire POI values that are difficult to identify on a two-dimensional map, such as signboard information, telephone numbers, addresses, door designs, etc., located within the target facility from the video information. .

  The mobile computer unit 204 may drive an indoor map production program and build an indoor map using information collected from sensors. For example, the mobile computer unit 204 may be realized by a tablet PC, a notebook computer, or the like that can drive an indoor map production program and execute operations for indoor map production.

  The mobile computer unit 204 may be attached to the moving means and construct an indoor map inside the target facility while moving inside the target facility together with the moving means. Here, the mobile computer unit 204 may include a spatial information generation unit 206 and an indoor map construction unit 207.

  The spatial information generation unit 206 may drive a robot operating system (ROS) to prepare for the production of an indoor map. Here, the robot operating system is a public meta-operating system for robots and may be used for indoor map production. Thus, when the ROS is driven, the spatial information generation unit 206 may receive scan information, acceleration information, direction information, and video information from the scan information collection unit 201, the acceleration information collection unit 202, and the video information collection 203. .

  Thereby, the spatial information generation unit 206 may generate spatial information regarding each point in the target facility using the scan information, the acceleration information, and the direction information. At this time, the spatial information generation unit 206 may generate the spatial information by executing a graphic work for constructing the indoor map using the scan information, the acceleration information, and the direction information. For example, the spatial information may be generated in the form of an image showing the contour.

  As an example, the spatial information generation unit 206 may determine whether an object corresponding to the current location inside the target facility is a fixed object by combining scan information, direction information, and acceleration information. In other words, the spatial information generation unit 206 may determine whether the point where the scan information is collected is fixed based on the direction information and acceleration information collected at the point where the scan information is collected. .

  Here, in the case of a fixed point, the spatial information generation unit 206 may perform the graphic work by continuously connecting to the point where the graphic work has been performed immediately before. For example, when performing a graphic work on a hallway wall in the target facility, the spatial information generation unit 206 may connect the hallway walls without interruption and make a graphic.

  At this time, the spatial information generation unit 206 performs a graphic work using an autocad (AutoCAD) or the like, and the graphic work is performed by connecting each point fixedly located inside the target facility and a fixed object. May be shown.

  In addition, the spatial information generation unit 206 may cut and synthesize cross sections of target facilities having a plurality of reference heights designated in advance, or may perform filtering. For example, the reference height may be designated in advance for various heights such as 30 cm, 50 cm, and 1 m. As a result, the spatial information generation unit 206 confirms by filtering that there is a protrusion at the waist height, a protrusion at the ankle height, a flower bed of the ankle height, and the like. It's okay. Further, the spatial information generation unit 206 may perform a graphic work such as displaying the confirmation result in the passage or omitting it.

  Further, the spatial information generation unit 206 may receive the direction information and the acceleration information collected by the acceleration information generation unit 202 in real time as the moving unit moves. As a result, the spatial information generation unit 206 may correct an error generated when generating the spatial information based on the direction information and acceleration information received in real time. In other words, as described above, when the 3D laser scanner is attached to a baby stroller or the like and the interior of the target facility is scanned to scan, the spatial information generation unit 206 is generated at the time of the graphic work due to fine vibration caused by the movement. The error may be corrected.

  For example, suppose that the 3D laser scanner does not move in a straight line when moving, but scans the inside of the target facility while moving finely to the left and right. As a result, the figured wall surface is expressed while warping or bending. At this time, the spatial information generation unit 206 may determine whether or not the current position of the spatial information generation unit 206 has moved slightly left and right based on the direction information included in the acceleration information. In addition, the spatial information generation unit 206 may correct the error in graphicization due to minute vibration or movement by reflecting the determined moving distance at the time of graphic work. At this time, the spatial information generation unit 206 may correct the error based on the acceleration information and the direction information using a ROS that is driven to construct an indoor map.

  The indoor map construction unit 207 may construct an indoor map for each point inside the target facility by mapping the spatial information and the video information.

  At this time, the indoor map construction unit 207 displays a peripheral image corresponding to each point in the target facility selected using the position-image mapping plug-in, and displays various locations based on the displayed video information of each point. Attribute information for points may be acquired automatically. For example, the indoor map construction unit 207 uses a position-image mapping plug-in to create a two-dimensional map such as billboard information, telephone number, address, door design, etc., from the video information to each location located inside the target facility. Then, a POI value that is difficult to identify may be acquired as attribute information of each point. Thereby, the indoor map construction unit 207 can construct an indoor map in which the attribute of each point is given to the contour for each point inside the target facility by mapping the attribute information to the spatial information.

  In addition, the indoor map construction unit 207 may inspect an error of the graphic work for the inside of the target facility using a predefined SQL function. At this time, the indoor map construction unit 207 may inspect the graphic work error for each floor of the target facility, or may inspect the graphic work error at once for all the floors of the target facility.

  As an example, when the inspection is performed for each floor, the indoor map construction unit 207 may perform the inspection for each floor by a method of inspecting the next floor when the inspection of the graphic work for the first floor is completed. For example, the indoor map construction unit 207 may execute a query sentence stored in advance in a database and receive an input of an ID of a target building to be inspected and an ID of a floor to be inspected. Thereby, the indoor map construction unit 207 may inspect an error in the graphic work for the corresponding floor of the corresponding building.

  At this time, if an error of the graphic work is confirmed by the inspection, the indoor map construction unit 207 may automatically correct the graphic work error based on the attribute information and video information regarding each point in the target facility. .

  In addition, the indoor map construction unit 207 may construct an indoor map including absolute coordinates by georeferencing.

  For example, the indoor map construction unit 207 may construct an indoor map including absolute coordinates by mapping the latitude and longitude of each point inside the target facility to the indoor map to which the attribute of each point is given. The indoor map including such absolute coordinates may have the same coordinate system as the latitude / longitude based coordinate system of the map used in real life. As a result, the indoor map construction unit 207 can link the indoor map including the absolute coordinates and the outdoor map.

  As described above, the indoor map construction device 200 can shorten the information collection time for constructing the indoor map by acquiring information in real time while moving inside the target facility. Furthermore, the indoor map construction apparatus 200 can construct a quick and accurate indoor map by performing graphic work and error correction for constructing the indoor map in real time using the collected information.

  FIG. 3 is an exemplary view showing an outline of a target facility for building an indoor map according to an embodiment of the present invention.

  The indoor map construction device 100 may collect information for constructing the indoor map in real time while moving inside the target facility.

  Moreover, as shown in FIG. 3, the indoor map construction apparatus 100 may perform a graphic work indicating the outline of the target facility by combining the direction information, acceleration information, and scan information collected in real time. The indoor map construction apparatus 100 may generate spatial information in the form of an image by the graphic work and store it in a database (not shown).

  FIG. 4 is a flowchart showing an example of an indoor map construction method according to an embodiment of the present invention. The indoor map construction method according to the present embodiment may be executed by the indoor map construction device described with reference to FIGS. 1 and 2.

  Referring to FIG. 4, in step 401, the power supply unit 106 may supply power to each device mounted on the moving unit 101 in order to construct an indoor map inside the target facility.

  For example, the power supply unit 106 supplies power to the scan information collection unit 102, the acceleration information collection unit 103, and the video information collection unit 104 so that information can be stably collected for building an indoor map. You can do it. Further, the power supply unit 106 may supply additional power to the mobile computer unit 105 so that an indoor map can be stably constructed using information collected in real time.

  At this time, each device mounted on the moving means may collect information for constructing the indoor map while moving inside the target facility together with the moving means.

  In step 402, the scan information collection unit 102 may collect scan information by scanning the inside of the target facility while moving inside the target facility. For example, the scan information collection unit 102 may collect scan information regarding each point in the target facility located in a space of 270 degrees ahead and 30 m by scanning the inside of the target facility using a 3D laser scanner. .

  In step 403, the acceleration information collection unit 103 may collect direction information and acceleration information while moving inside the target facility. For example, the acceleration information collection unit 103 may collect direction information and acceleration information regarding each point when the scan information collection unit 102 scans the inside of the target facility using an IMU sensor.

  In step 404, the video information collection unit 104 may collect video information about each spot taken while moving inside the target facility. For example, the video information collection unit 104 may collect video information by photographing a point where the scan information collection unit 102 scans the inside of the target facility using a panoramic camera.

  Here, the video information may be used to acquire a POI value for each point in the target facility, which is difficult to detect with only spatial information. For example, the video information may be used to acquire a telephone number, a point, a trade name, an address, and the like at each point. The acquired POI value may be used for a point of interest (POI) search service based on an indoor map.

  In operation 405, the mobile computer unit 105 may drive an indoor map production program and construct an indoor map by receiving transmission of information collected by a device attached to the moving unit. At this time, the mobile computer unit 105 may be attached to the moving means and receive information for constructing the indoor map in real time while moving together with the moving means moving inside the target facility.

  As an example, the mobile computer unit 105 may receive scan information, direction information, acceleration information, and video information in real time by driving a robot operating system. Further, the mobile computer unit 105 may generate spatial information regarding each point in the target facility by combining the scan information, the direction information, and the acceleration information.

  For example, the mobile computer unit 105 may perform a graphic work showing the outline of the target facility using autocad (AutoCAD) having scan information, direction information, and acceleration information as input parameters. Subsequently, the mobile computer unit 105 may generate spatial information in the form of an image through a graphic operation. And the mobile computer unit 105 may construct | assemble the indoor map by which the attribute of each point was provided to the outline inside a target facility by mapping video information to spatial information.

  As an example, the mobile computer unit 105 displays a peripheral image corresponding to each point in the target facility selected using the position-image mapping plug-in, and each point based on the video information of each displayed point. Attribute information about the may be acquired automatically. In addition, the mobile computer unit 105 uses a position-image mapping plug-in to display a two-dimensional map such as sign information, a telephone number, an address, and a door design at each point located in the target facility from video information. A POI value that is difficult to identify may be acquired as attribute information of each point.

  At this time, the mobile computer unit 105 may inspect an error of the graphic operation on the inside of the target facility using a predefined SQL function. For example, the mobile computer unit 105 may inspect the graphic work error for each floor of the target facility, or may inspect the graphic work error at once for all the floors of the target facility. At this time, when an error of the graphic work is confirmed by the inspection, the mobile computer unit 105 may automatically correct the error of the graphic work based on the attribute information and video information regarding each point in the target facility.

  The mobile computer unit 105 may construct an indoor map including absolute coordinates using georeferencing. Further, the mobile computer unit 10 may process the constructed indoor map as an indoor map for service so that the location-based service can be provided.

  Further, the mobile computer unit 105 may link an outdoor map having the same coordinate system as the constructed indoor map.

  In FIG. 4 described above, the scan information, the direction information, the acceleration information, and the video information collection are described in time series. However, this is only an example, and the collection of the information for constructing the indoor map may be collected at the same time. Various implementation changes are possible, such as collecting any one first. For example, video information, direction information, and acceleration information may be collected prior to scan information and transmitted to the mobile computer unit, or scan information and video information may be collected prior to direction information and acceleration information. It may be transmitted to the mobile computer unit.

  FIG. 5 is a block diagram for explaining the internal configuration of the indoor map construction device in one embodiment of the present invention.

  Referring to FIG. 5, the indoor map construction device 500 according to the present embodiment may include a processor 510, a bus 520, a network interface 530, and a memory 540. The memory 540 may include an operating system 541 and an indoor map construction routine 542.

  The processor 510 may include a spatial information generation unit 511 and an indoor map construction unit 512. The processor 510 may be configured to process computer program instructions by performing basic arithmetic, logic, and input / output operations of the indoor map construction apparatus 100. The instructions may be provided to the processor 510 via the bus 520 by the memory 540 or the network interface 530. The processor 510 may be configured to execute program codes for the spatial information generation unit 511 and the indoor map construction unit 512. Such a program code may be stored in a recording device such as the memory 540.

  The memory 540 is a computer-readable recording medium and may include a random access memory (RAM), a read only memory (ROM), and a permanent mass storage device such as a disk drive. . The memory 540 may store program codes for the operating system 541 and the indoor map construction routine 542. Such software components may be loaded from a computer readable recording medium separate from the memory 540 using a drive mechanism (not shown). Such another computer-readable recording medium includes a computer-readable recording medium (not shown) such as a floppy (registered trademark) drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card. It's okay. In other embodiments, the software components may be loaded into the memory 540 through a network interface 530 that is not a computer readable recording medium.

  The bus 520 enables communication and data transmission between components of the indoor map construction device 100. The bus 520 may be configured using a high-speed serial bus, a parallel bus, a SAN (Storage Area Network), and / or other suitable communication technology.

  The network interface 530 may be a computer hardware component for connecting the indoor map construction device 100 to a computer network. The network interface 530 may connect the indoor map construction device 100 to a computer network by wireless or wired connection.

  On the other hand, the spatial information generation unit 511 and the indoor map construction unit 512 may be configured to construct an indoor map using information collected by sensors and cameras attached to the moving means.

  For example, the spatial information generation unit 511 may receive, in real time, scan information collected by a laser scanner attached to a moving unit, direction information and acceleration information collected by an IMU sensor, and generate spatial information regarding the inside of the target facility. . Accordingly, the indoor map construction unit 512 may construct the indoor map by mapping the spatial information and the video information. Here, since the detailed method for generating the spatial information and constructing the indoor map has been described with reference to FIG. 2, repeated description is omitted.

  As described above, the embodiments have been described based on the limited embodiments and the drawings. However, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in a different order than the described method and / or components of the described system, structure, apparatus, circuit, etc. may be different from the described method. Appropriate results can be achieved even when combined or combined, or opposed or replaced by other components or equivalents.

  Accordingly, even different embodiments belong to the scope of the appended utility model registration request if they are equivalent to the scope of the utility model registration request.

Claims (9)

A scan information collection unit that scans the inside of the target facility to construct an indoor map and collects scan information about each point inside the target facility,
An acceleration information collection unit for collecting direction information and acceleration information about each point;
An indoor map construction apparatus comprising: a video information collection unit that collects video information regarding each point; and a mobile computer unit that constructs an indoor map of the target facility based on the scan information, direction information, acceleration information, and video information . A moving means for moving the inside of the target facility to construct the indoor map by mounting the scan information collecting unit, the acceleration information collecting unit, the video information collecting unit, the mobile computer unit, and a power supply unit. The indoor map construction device according to claim 1, further comprising: The mobile computer unit is
The indoor map construction apparatus according to claim 1, wherein the indoor map construction device performs a graphic work indicating an outline in which each fixed point and a fixed object are connected to each other inside the target facility while moving inside the target facility. The mobile computer unit is
The indoor map construction apparatus according to claim 1, wherein spatial information relating to the inside of the target facility is generated based on the scan information, the direction information, and the acceleration information by driving a robot operating system. The mobile computer unit is
The indoor map construction apparatus according to claim 4, wherein an error generated when generating the spatial information is corrected using the direction information and the acceleration information transmitted in real time from the acceleration information collection unit. The acceleration information collection unit includes:
The indoor map construction apparatus according to claim 1, wherein the direction information and the acceleration information are collected using an IMU sensor while moving inside the target facility. The indoor map construction apparatus according to claim 1, further comprising: a power supply unit that supplies power to the scan information collection unit, the acceleration information collection unit, the video information collection unit, and the mobile computer unit. The mobile computer unit is
The indoor map construction device according to claim 1 which constructs an indoor map of said target facility by acquiring attribute information about a point and mapping the acquired attribute information about each point to spatial information about the target facility. The mobile computer unit is
The graphic work error in the target facility is inspected, and the graphic work error by the inspection is automatically corrected based on attribute information or video information regarding each point in the target facility. The indoor map construction apparatus described.

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