JP4948689B1 - Laser ortho image generating apparatus and program thereof - Google Patents

Abstract

A laser ortho-image creating apparatus capable of easily obtaining an image similar to an ortho-photo using high-density laser data is obtained.
High-density laser data (x, y, z, reflection intensity in, RGB value, launch time, reception time) obtained by firing laser data at intervals of several centimeters in the vicinity as it moves is stored. The image memory pixel includes a database 10, a mesh layer creation processing unit 11, a laser data projection processing unit 12, a road portion extraction processing unit 13, a laser ortho image creation unit 14, a data area diagram display unit 15, and the like. In this laser data group, a color (gray scale or the like) based on the reflection intensity of predetermined laser data is assigned to the pixel, and a laser orthoimage in which the road surface is viewed from the vertical is created. Further, in the laser ortho image of the road surface, points other than the road portion are removed.
[Selection] Figure 1

Description

  The present invention relates to a laser orthoimage generating apparatus that generates an orthoimage using a high-density laser point group.

  Orthophoto images have been used in various systems in recent years because of their high visual appeal.

  For example, orthophotos of road surfaces are useful information for reading road conditions and creating maps. Conventionally, general aerial photographs using road surface topography information and images of road surfaces are used. It was created by the same method as the orthophoto used.

  On the other hand, there is also an image that uses laser data acquired by being mounted on an aircraft.

JP 2003-296706 A

  However, in order to obtain an orthophoto, illumination such as sunlight is basically required, so the photographing time is limited.

  In addition, the quality of an image obtained by photographing a road surface deteriorates in a place where exposure is extremely low, such as a tunnel.

  That is, it is desirable to use laser data in order to solve these problems. However, since laser data has a higher resolution than orthophoto, it is difficult to use it as an image.

On the other hand, there is a high-density laser having a resolution of 2 cm in recent years.

  Utilizing the reflection intensity (or reflectivity) when acquiring the above-mentioned three-dimensional point group without using an image to form an image using the laser point group (also called a three-dimensional point group) of this high-density laser However, since the density of the point group is fine, the high-density laser cannot be imaged easily and at high speed.

  Further, since the high-density laser has a low density, it also faithfully acquires trees, utility poles, electric wires, etc. on the road. For example, a leaf of a tree straddling the road is also acquired. This makes it difficult to see manholes, white lines, etc. on the road.

  The present invention has been made in view of the above-mentioned problems, and an image similar to orthophoto can be obtained easily and at high speed using a high-density laser point cloud, and unnecessary high-density laser point cloud is removed. It is an object of the present invention to obtain a laser orthoimage generating apparatus capable of immediately obtaining a processed image.

The present invention is a laser orthoimage generating apparatus that emits a laser at intervals of several centimeters while scanning from a high-density laser device mounted on a moving body to a target range, and displays the obtained laser data on a screen as a laser orthoimage. ,
An image memory for generating an image to be displayed on the screen;
A point mesh data range (Dp) in which the laser data is stored in a minimum mesh group in which i × m pieces of the minimum mesh are generated in a two-dimensional coordinate system in a two-dimensional coordinate system in a two-dimensional coordinate system is defined as a size that the laser data includes a predetermined number. Stored first storage means;
Second storage means for storing the movement trajectory of the mobile object in the two-dimensional coordinate system; and third storage means for storing a road solid (Bi) of the road on which the mobile object traveled is stored in the two-dimensional coordinate system; ,
Means for defining pixels of the image memory with a set resolution (di);
For each predetermined position (Pni) in the predetermined range of the movement locus, a value obtained by subtracting the height (Hi) to the high-density laser device from the z value assigned to the position (Pni) A road surface height coordinate (ZHi), and a means for changing the z value of the movement locus to the road surface height (ZHi);
For each fixed position (Pni) and next fixed position (Pni + 1) of the movement locus, this is defined in the third storage means, and the set width (Wi) is set as the height (ZHi) of the road surface. Means for defining at right angles to the direction of movement of the trajectory;
Each time the width (Wi) is defined in the third storage means, the position of the predetermined height (ho) of the set height (hi) is changed to the fixed position (Pni) and the next fixed position (Pni + 1). ) To obtain a three-dimensional shape of the width (Wi) and the height (hi), and to make this a road solid (Bi);
Each time the road solid (Bi) is generated in the third storage means, all the laser data having coordinates included in the road solid (Bi) is read from the first storage means and the road solid (Bi) is read. Means for storing in,
When all the laser data are stored in the road solid (Bi), the vertical and horizontal coordinates of the plane of the road solid (Bi) are defined by the size (Dm) of the minimum mesh, and the vertical and horizontal coordinates of these meshes are further defined. Means for defining the resolution (di) of the image memory;
A mesh having a resolution (di) in the road solid (Bi) is designated, and for each designation, laser data existing in the mesh is searched, and laser data nearest to the center coordinates of the designated mesh is obtained. Means to determine,
Means for reading the determined reflection intensity of the laser data and obtaining a gray scale value corresponding to the reflection intensity;
Means for assigning the grayscale value to a pixel position in the image memory with the ordinate and abscissa of the designated mesh as the pixel position;
And a means for displaying an image of a gray scale value assigned to a pixel of the image memory on the screen as the laser ortho image.

  As described above, according to the present invention, the pixels of the image memory are defined with the input resolution (di).

  Also, an arbitrary width (Wi) is defined with respect to the road surface height (ZHi) assigned to this position for each predetermined position (plane rectangular coordinates) on the movement locus, and the road surface connecting these positions A road solid (Bi) is generated by assigning the input height hi (for example, ± hi / 2 from the road surface height) to each vertex of the plane based on the height (ZHi) of Laser data having coordinate values in the road solid (plane rectangular coordinates: where z is assigned to x and y) are stored in the road solid.

  Then, the pixel of the image memory including the laser data is obtained by resolution (di), the nearest laser data is searched from the center of the pixel, and a gray scale value corresponding to the reflection intensity is assigned to the pixel. This is displayed on the screen as a laser ortho image.

  That is, laser data is stored in a road solid Bi having a set width (Wi) and height (hi) and displayed as a laser ortho image, so that a laser ortho image of a road from which unnecessary laser data is removed is obtained. be able to. For example, a laser orthoimage from which trees on a road, telephone poles, etc. are removed can be obtained.

  In addition, since hi is assigned to road solid (Bi) as ± hi / 2, high-density laser data can be acquired from the center (swelling) of the road to both ends, and the above high-density laser of + hi / 2 or higher. Data will not be acquired.

  Further, since the width (Wi) and height (hi) are arbitrary, a laser ortho image including a sidewalk can be acquired.

  Further, the vertical and horizontal coordinates of the road solid (Bi) are defined by the minimum mesh size (Dm), and the defined mesh is defined by the resolution (di) of the image memory, so that the road solid (Bi) is stored. The pixel location of the image memory that the laser data contains can be determined immediately. For this reason, a laser ortho image can be obtained at high speed.

  In addition, the color of the pixel is determined by the reflection intensity of one piece of laser data nearest to the center of the pixel of the image memory, so that high-density laser data (a plurality of laser data included in the pixel) is obtained. However, the color of the pixel can be easily determined. Therefore, the laser ortho image can be displayed quickly.

Furthermore, since the resolution of the image memory is equal to or less than the interval of high-density laser data (several centimeters or less), it is an image similar to a normal ortho image. That is, even a very fine high-density laser point group can easily display a laser orthoimage similar to an orthophoto image at high speed.

  In addition, a laser ortho output range is designated, only laser data within the laser ortho output range is stored in a road solid (Bi), and a connected road solid (BBi) connecting these is displayed as a laser ortho image. Therefore, the entire desired laser ortho output range can be easily and rapidly displayed as a laser ortho image.

  If there is no laser data in a pixel, the laser data present in several pixels (one pixel) adjacent to this pixel is detected, and the reflection of the laser point nearest from the center of the pixel is detected. Assign color values according to intensity. In other words, since there are fewer unnecessary black spots in the created laser ortho image, a smooth laser ortho image is obtained.

  That is, unlike the orthophoto image, sunlight or the like is unnecessary, so that the inside of the tunnel can be obtained in the same manner as the orthophoto image.

That is, for example, an orthophoto of a road surface is effective information for reading a road state or creating a map.

1 is a schematic configuration diagram of a laser orthoimage generating apparatus 1 according to the present embodiment. It is a schematic block diagram of the measuring apparatus mounted in the laser measurement vehicle. It is explanatory drawing of the laser point group Li of the database 10. FIG. It is explanatory drawing explaining the projection to the memory for laser projection (image memory) of a laser point group. It is explanatory drawing explaining the display of the laser point group in viewpoint Ci. It is explanatory drawing explaining the display of the laser point group read by the road solid Bi. It is explanatory drawing of the laser ortho image displayed on the screen of this Embodiment. It is a specific diagram of the laser orthoimage generating apparatus of the present embodiment. 3 is a schematic configuration diagram of a mesh layer creation / selection processing unit 11. FIG. It is explanatory drawing explaining the relationship of each mesh layer. It is explanatory drawing explaining the relationship between the division | segmentation number of each mesh, and the length of 1 side. It is explanatory drawing explaining the relationship between a mesh and a laser point group. It is explanatory drawing of the example of a display of the laser point group in 1 m mesh, and the laser point group in 10 m mesh. It is explanatory drawing of the image of the laser point group which lowered the viewpoint to the vicinity of the measuring apparatus and made the viewpoint direction look forward. It is a flowchart explaining a mesh layer creation process. It is a flowchart explaining the process until a laser point group is obtained in memory 29b, 31b. It is a flowchart explaining the process until a laser point group is obtained in memory 29b, 31b. It is explanatory drawing explaining a point cloud data range. It is explanatory drawing explaining an inside / outside determination. 4 is an explanatory diagram for explaining data in a memory 33. It is a flowchart explaining an extraction process (inside / outside determination). It is explanatory drawing explaining an extraction process (inside / outside determination). It is a schematic block diagram of a road part extraction process part. It is a flowchart explaining a road part extraction process. It is a flowchart explaining a road part extraction process. It is explanatory drawing explaining the definition of road width Wi. It is explanatory drawing explaining the production | generation of a road solid. It is explanatory drawing explaining the laser point group allocated to the road solid. It is a supplementary figure of FIG. It is explanatory drawing explaining the display of the laser point group when not using the road solid Bi. It is explanatory drawing explaining the display of the laser point group at the time of using the road solid Bi of this Embodiment. FIG. 2 is a schematic configuration diagram of a laser ortho image creation processing unit 14. 4 is a flowchart for explaining the operation of a laser orthoimage creation processing unit 14. 4 is a flowchart for explaining the operation of a laser orthoimage creation processing unit 14. It is explanatory drawing explaining the determination process of the color of a pixel. It is explanatory drawing explaining the determination process of the color of a pixel. It is explanatory drawing explaining the difference between the laser ortho image by this Embodiment, and a normal ortho image. It is explanatory drawing explaining the search of the laser point Lpi just under the position Pn of the driving locus Pi.

  The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is specified as follows in terms of structure and arrangement. It is not a thing. The technical idea of the present invention can be variously modified within the technical scope described in the claims. It should be noted that the drawings are schematic and the configuration of the apparatus and system is different from the actual one.

  The laser orthophoto image creation apparatus (creation method) of the present embodiment may use high-density laser data obtained by an aircraft or the like, but in this embodiment, a high-density laser measurement machine is attached to the vehicle. The high-density laser data obtained in this way will be described.

(Outline of this embodiment)
In this embodiment, a mesh (also referred to as a pixel) in a display image memory is a laser point cloud (high-density laser data) acquired at a high density (interval of about 5 cm or less) acquired by a laser measurement vehicle, an aircraft, or the like. Group) with a size corresponding to the resolution of the group.

Then, a color (gray scale or the like, which may be a predetermined color value) based on the mirror reflectivity (or reflectance) of the high-density laser data (hereinafter simply referred to as laser data Li) is given to the pixel, and the road surface is An image (hereinafter referred to as a laser ortho image) that is orthogonally projected as seen from the vertical is created. That is, an image map of the road surface that is not affected by the weather and lighting conditions at the time of shooting is created. However, the resolution of the laser used in the aircraft is preferably about 25 cm.

(1) In the above laser orthoimage of the road surface, by removing points other than the road surface, only the road surface on which the structures on the road (electric poles, planting, electric wires, tunnels, etc.) do not cover is imaged. Turn into.

(2) In order to realize the above (1) at a high speed, a point group on the road surface is classified in advance using a trajectory (movement trajectory: GPS, inertial navigation device) at the time of photographing of the laser measurement moving body (vehicle). Then, a laser ortho image of the road surface is created using the point.

  More specifically, a layer (a memory in which a plane rectangular coordinate system is defined) in which a mesh (addition of a mesh number) having a predetermined interval (1 cm, 10 cm, 1 m, 10 m, 100 m...) Is formed is generated. Classify every mesh interval.

Then, when storing laser point groups in these layers, the number of laser point groups (also referred to as a plurality of laser data) is thinned out and stored in accordance with the type of the layer. That is, this is a list in which a laser point group (including one) is associated with a mesh number.

In the present embodiment, this list of minimum mesh layers is referred to as a point cloud data range Dp (including mesh numbers).

  At this time, each mesh of a predetermined layer (minimum mesh layer described later in the present embodiment) is managed by a mesh ID (mesh interval Dm (1 m × 1 m). This mesh ID is the type of layer, mesh The position (X axis direction, Y direction) is defined by the mesh interval Dm.

  For example, the set laser ortho output range Di is defined by the mesh interval Dm described above on an image displaying the movement locus (hereinafter, movement locus image: planar rectangular coordinate system).

Further, by inputting the width Wi and the height hi, a road solid body Bi having the width Wi and the height hi (for example, the center of the road surface height hi) is generated for each position at a predetermined interval of the movement locus, A laser point group of the minimum mesh layer is stored in this road solid Bi, and a connected road solid BBi obtained by connecting these road solids Bi is obtained.

  Further, a predetermined resolution di (dx, dy: 5 cm or less (2 cm)) for displaying the laser ortho output range Di on the screen as an ortho image (laser ortho image) is input, and a pixel (mesh) having a size of the resolution di Is defined in the image memory.

  Then, the laser data Li contained in the pixel is searched from the connected road solid BBi, and the pixel is displayed with a color (grayscale value) corresponding to the reflection intensity of the laser data Li.

  This will be specifically described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a laser orthoimage generating apparatus 1 according to the present embodiment. Each coordinate system used in the present embodiment is defined by a two-dimensional coordinate system that is a national coordinate system based on the lateral Mercator projection and having a predetermined position as an origin. In the present embodiment, this is referred to as a planar rectangular coordinate system (A).

  In the present embodiment, a database 10 storing high-density laser data (x, y, z, reflection intensity in, RGB value, emission time, reception time), a mesh layer creation processing unit 11, and laser data projection processing A unit 12, a road part extraction processing unit 13, a laser ortho image creation unit 14, a data area diagram display unit 15 and the like.

  The above-described high-density laser data Li is measured by, for example, the laser measurement vehicle 2 shown in FIG.

For example, as shown in FIG. 2, the laser measurement vehicle 2 has a high-density laser scanner 2a, 2b, 2c (simply called a high-density laser device) and a GPS receiver 2d mounted on the vehicle. ing. A plurality of cameras may be provided. These laser scanners have a range of 80 m to 100 m, and measure a range of 180 degrees, 270 degrees, or 360 degrees around 45 degrees.

  The acquired high-density laser data Li includes the three-dimensional coordinates (x, y, z) of the spot point of the object irradiated with the laser, the emission time of the laser data Li, the reception time, the reflection intensity In, It is composed of RGB and the like. GPS data (also referred to as a movement trajectory) is also acquired. These are stored in the CDROM 3.

  Next, the laser orthoimage generating apparatus 1 (computer system) stores these laser data Li in the database 10. Note that GPS data (also referred to as a movement trajectory) may correspond to the laser data Li. Further, since the laser data Li has a large amount of data, it is divided into a plurality of files and stored.

  Further, the laser measurement vehicle 2 includes a recording unit (not shown) for recording the acquired data, a hybrid inertial navigation device or the like (not shown), and can acquire the position / posture of the automobile. . The position and posture acquired by these hybrid inertial navigation apparatuses may be stored in correspondence with the position Pni of the movement locus.

  The three-dimensional coordinates (x, y, z) of the spot point of the object are obtained using the position and orientation of the hybrid inertial navigation device, the GPS position, and the like.

The laser scanners 2a to 2c described above are disposed so as to be inclined at 45 degrees in the horizontal direction, and the pitch interval is set to 0.5 cm, 1 cm, 2 cm, 3 cm, 4 cm or 5 cm, respectively.

  That is, in the database 10, as shown in FIG. 3, the laser data Li (L1, L2,...) Is associated with its three-dimensional coordinates (x, y, z), reflection intensity, launch time, and the like. Is remembered.

  The three-dimensional coordinate system described above is defined by a coordinate system (A) based on the horizontal Mercator projection with the predetermined position as the origin.

  The data area diagram display unit 15 displays a map of Japan (planar rectangular coordinate system based on the transverse melt cal projection) from the map database 21 on the screen 23, and obtains a laser acquisition diagram (lateral melt cal projection) corresponding to the area designated in this Japan map. Is extracted from the area diagram database 22 and displayed on the screen 23.

  The mesh layer creation processing unit 11 reads the input minimum mesh size (1 cm × 1 cm, 10 cm × 10 cm, or 1 m × 1 m) (1 m × 1 m in the present embodiment), and the minimum mesh size (1 m × 1 m) A minimum mesh layer is generated in the memory 17a.

Then, the high-density laser data Li ((x, y, z), reflection intensity in, RGB value) stored in the database 10 is used as the minimum mesh layer (plane rectangular coordinate system: same as the coordinate system (A)). Remember.

Next, an upper mesh layer having a mesh (lattice) of 10 times, 100 times,... Is created on the basis of the minimum mesh size, and high-density laser data Li of the minimum mesh layer is thinned and stored in this upper mesh. .

  That is, the three-dimensional coordinates (x, y, z) of the laser data Li (L1, L2,...) And the reflection intensity In are assigned to the meshes of the memories 17b, 17c,. Note that mesh numbers ((1), (2)...) Are assigned to these meshes. That is, this is a list in which laser data Li is associated with mesh numbers.

  In FIG. 1, the meshes of the memories 17b, 17c,... Are defined in a plane rectangular coordinate system, but are three-dimensionally shown as x, y, z. This z indicates the altitude value assigned to the x, y mesh, and x, y, and z are described in order to emphasize that the altitude value is assigned to the layer.

  The laser data projection unit 12 reads the input viewpoint Ci (position) and direction Hci, selects and assigns mesh layers (17a, 17b,...) Corresponding to the viewpoint Ci (position), and projects the laser in the direction Hci. Data Li (also referred to as original data) is read into the projection memory 18i (18a, 18b or 18c).

  The projection memories 18a, 18b, and 18c are image memories. The top surface (XY) is 18a, the side surface (ZY) is 18b, and the front surface (ZX) is 18c (not shown). Yes. The projection memories 18a, 18b, and 18c are defined in the same coordinate system (A) as described above.

That is, the laser projection unit 12 selects and reads one of the projection memories 18a, 18b, or 18c according to the surface to be displayed.

  That is, in the case of projection of the upper surface, as shown in FIG. 4, the laser point group Li of the mesh layer selected by moving the projection memory 18a (XY plane) on the XY plane according to the viewpoint Ci. Is interpolated in the mesh (pixel) of the projection memory 18a.

  The image output unit 16 reads the laser point group (a plurality of laser data) from the laser point group projection memory 18i and displays it on the screen 23 as an image (see FIG. 5).

  Further, the image output unit 16, the laser point group projection memory 18i, and the laser data projection unit 12 may be referred to as a graphic accelerator.

  The road portion extraction processing unit 13 stores a road solid Bi between predetermined positions on the movement locus Pi in the laser ortho output range Di (also referred to as a cutout portion) based on the input road width Wi, height hi, and the like. (19a, 19b...), The laser point cloud of the minimum mesh layer in the range corresponding to the road solid Bi is stored, and defined by the mesh interval of the minimum mesh layer.

For generation of the road solid Bi, X and Y of each position Pni (X, Y, Z) of the travel locus Pi stored in the memory 26a are used. However, Z of the position Pni (X, Y, Z) of the movement locus Pi is a value obtained by subtracting the height Hi of the high-density laser device of the vehicle. That is, Z is the road surface height ZHi (ZHi = Z−Hi). More specifically, the road surface height ZHi is a value obtained by thinning out the height Hi from the Z value to the high-density laser device on the vehicle for each position Pni of the movement locus Pi by a Z value correction unit (not shown). .

Further, an arbitrary road width Wi (also referred to as a cutout width) and an arbitrary height hi stored in the memory 26b are used.

  Then, in order to remove upper and lower structures such as street trees, the input road surface height hi (also referred to as the cut-out height) is obtained, and a road solid having a certain height from that height is obtained. Bi (hexahedral) is determined (see FIG. 6). FIG. 6 is a diagram in which the laser point group read into the road solid Bi is displayed.

  Then, the above processing is performed for each position Pni and the next position Pni + 1 in the travel locus to obtain n road solids Bi and integrate (connect) them (connected road solid BBi).

  The laser ortho image creation processing unit 14 defines a pixel of an image memory to be described later with the input resolution (5 cm or less), searches for a mesh of the road solid Bi in the connected road solid BBi including the pixel, A color value (gray scale value) corresponding to the reflection intensity of the predetermined laser data existing in is attached to the pixel and displayed (see FIG. 7).

(Detailed concrete example of FIG. 1)
More specifically, the laser orthoimage generating apparatus 1 of the present embodiment has a configuration shown in FIG.

  FIG. 8 is a more specific configuration diagram of the laser orthoimage generating apparatus 1 according to the present embodiment. In FIG. 8, the description of the field portion is omitted as in FIG. Further, the laser data projection unit 12 and the memory 18 are omitted.

  As shown in FIG. 8, a range ID code conversion unit 27, a laser point group extraction unit 30, and the like are provided.

  The data area diagram display unit 15 displays the movement locus of the memory 26a storing the movement locus (defined in the plane rectangular coordinate system: Z is the road surface height) on the screen 23 (movement locus image), and this selection. The obtained range is output to the range ID code conversion unit 27 as the laser ortho output range Di.

  Further, the laser ortho output range Di may be input directly by the operator using the keyboard without displaying the movement locus.

  The range ID code conversion unit 27 sets the coordinates (xmin, ymin) and (xmax, ymax) of the input laser ortho output range Di ((xmin, ymin), (xmax, ymax): plane rectangular coordinates) to the minimum. Divide by the minimum mesh spacing Dm of the mesh layer.

  That is, the laser ortho output range Di in the point cloud data range Dp (laser data of the smallest mesh layer) is defined by the character string (mesh ID) called mesh hierarchy level, X direction range, Y direction range].

  The mesh ID of the laser ortho output range Di and the mesh number ((1), (2),...) Of the point cloud data range Dp (minimum mesh layer) are associated and stored in the memory 29 (Di mesh ID list). Called).

  Note that the Di mesh ID list and the Di laser data may be associated and stored in one memory, but in the present embodiment, the data in which the mesh ID and the mesh number are associated is represented as a Di mesh ID list in the memory 29a. Di laser data is stored in the memory 29b (planar rectangular coordinate system).

  In addition, when the laser ortho output range Di (plane rectangular coordinates) is defined by the mesh ID, the range ID code conversion unit 27 obtains a search range Dr (plane rectangular coordinates) having a size including the output range Di. The range Dr is defined by the minimum mesh interval Dm.

  Then, the mesh number ((1), (2)...) In the point cloud data range Dp (memory 17a: minimum mesh layer) corresponding to the search range Dr and the mesh ID are associated and stored in the memory 31. (Referred to as Dr mesh ID list).

  The Dr mesh ID list and Dr laser data may be associated with each other and stored in one memory. However, in the present embodiment, the data associated with the mesh ID and the mesh number is stored in the memory 31a as a Dr mesh ID list. Dr laser data is stored in the memory 31b (plane rectangular coordinate system).

  The laser point group extraction unit 30 defines the laser ortho output range Di, the output range Dr, and the point group data range Dp in the working memory 32 to perform inside / outside determination, and a Di mesh ID list ( All the laser data Li of the point cloud data range Dp (minimum mesh layer; memory 17a) having the mesh number of the laser ortho output range Di) is taken into the memory 33 (including the mesh, mesh number, and laser point cloud).

  Note that the memory 17a, the memory 29, the memory 31, and the memory 33 may be combined into one memory and stored in association with each other.

  The inside / outside determination will be described later in detail using a flow.

<Detailed explanation of each part>
(Mesh layer creation processing unit 11)
FIG. 9 is a schematic configuration diagram of the mesh layer creation processing unit 11. 9, the description of the same components as those in FIG. 1 is omitted.

  The mesh layer creation processing unit 11 includes a minimum mesh creation unit 111, an upper mesh creation unit 112, a laser data reading unit 113, a mesh layer selection unit 116, and the like.

  The minimum mesh creating unit 111 generates a mesh (plane rectangular coordinate system) of the lattice size in the memory 17a in response to the input of the minimum mesh size (1 cm, 10 cm, 1 m) (referred to as the minimum mesh), and the laser data Li. Read from database 10 and assign to this minimum mesh. In the memory 17ab, a mesh ID based on the minimum mesh size is obtained and stored as a Dp mesh ID list.

  The upper mesh creating unit 112 creates a mesh having a lattice unit 10 times larger than the minimum mesh size as the minimum mesh is generated (referred to as upper mesh), and the memories 17b and 17c according to the respective sizes. Remember me. Although the Dp mesh ID list is created also in the upper mesh, the description is omitted in the present embodiment.

  That is, as shown in FIG. 10 (a), for example, a minimum mesh of a 1 m × 1 m grid is created, and the area obtained by collecting 10 grids and 10 vertical grids of this minimum mesh is one grid (10 m × 10 m). The upper mesh is created (FIG. 10 (b)), and the upper mesh is further divided into 10 grids in the horizontal direction and 10 grids in the vertical direction. Such upper meshes are sequentially created (for example, up to 100 km × 100 km: see FIGS. 11 and 12).

That is, each mesh is in a hierarchy (layer). However, the origin of these upper meshes is the same as the plane rectangular coordinate system of the smallest mesh. FIG. 12 shows the relationship between the mesh and the laser point group.

  When the upper mesh is created in the memory 17b by the upper mesh creating unit 112, the upper representative laser data extracting unit 115 thins out the laser point group of the minimum mesh according to a predetermined rule and assigns it to each lattice of the upper mesh. When the upper mesh is created in the memory 17c, the laser point group in the memory 17b is further thinned out and assigned to the grid of the upper upper mesh next to the memory 17c. Such processing is repeated up to 100 km mesh.

  In the case of a laser data interval of 2 cm in the 1 m × 1 m minimum mesh, several thousand pieces of laser data exist. In this embodiment, a laser point group is stored in the minimum mesh. Sometimes laser data is thinned out. For example, about 1/10 is thinned out.

  That is, in the above-mentioned minimum mesh (hereinafter referred to as minimum mesh layer) and upper mesh (hereinafter referred to as upper mesh layer), the laser point group (L1, L2,...) Has its three-dimensional coordinates (x, y, z) and Reflection intensity, firing time, etc. are assigned.

  Each mesh layer is associated with a viewpoint Ci according to the size of the lattice. For example, a mesh layer of a 1 cm × 1 cm lattice has a height of 5 m to 10 m, 10 cm × 10 cm has a height of 10 m to 30 m, 1 m × 1 m has a height of 30 m to 300 m, and 100 m × 10 m has a height of 300 m to 3 km. It has become.

  Furthermore, a mesh number is assigned to each mesh of each layer.

  The mesh layer selection unit 116 stores the minimum mesh layer in the memory 17a as a selected detailed mesh in the memory 117, and stores the outline mesh layer in the memory 118a, the memory 118b,. For example, when the selected detailed mesh layer is 1 m × 1 m and the distance is 80 m to 200 m with respect to the viewpoint Ci in the vertical direction of the movement locus, this outline mesh layer is stored in the memory 118b. In addition, a mesh layer of 100 m × 100 m is stored in the memory 118c at a distance of 200 m to 400 m.

  In other words, the mesh point close to the viewpoint reads the detailed level laser point cloud, and if it is far, the mesh point cloud of the general level far from the viewpoint is read.

These memories 17a and 17b may be generated in one memory.

  When a mesh layer is selected, the laser data projection processing unit 12 generates a mesh having a lattice size of the mesh layer in the laser projection memory 18i. Then, the viewpoint Ci and the direction Hci are read. If the direction Hci is upward, the laser point group projection memory 18a is positioned at the viewpoint Ci and the direction Hci, and the selected detailed mesh in the memory 117 is stored in the mesh (pixel) of this memory. Interpolate the laser point cloud of the layer. Further, the laser points of the outline mesh layer are interpolated in the other laser projection memories 18b and 18c. However, a larger mesh than a different 18a mesh is created in the other laser projection memories 18b and 18c.

That is, a mesh having the size of the mesh of the outline mesh layer is defined.

  The image output unit 16 displays an image interpolated in the pixels of the laser point cloud projection memory 18i on the screen 23 (see FIG. 12).

  In addition, when the viewpoint Ci is about 10 m, for example, the display of the laser point group with 1 m mesh is shown in FIG. 13A, and when the viewpoint Ci is about 10 m, for example, the display of the laser point group with 10 m mesh is displayed. As shown in FIG. The 10 m mesh is rougher than the 1 m mesh because the laser point cloud is thinned out.

  FIG. 14 shows a view in which the viewpoint Ci is positioned near the road surface and the viewpoint direction Hci is changed. FIG. 14 shows a frame of 10 cm mesh and 1 m mesh. 14 is a frame of 10 m mesh. FIG. 5 shows an example in which the laser point group Li assigned to a 10 m mesh is displayed at a distance corresponding to the viewpoint. In FIG. 5, the smallest frame shows a 10 m mesh, and the next frame shows a 100 m mesh frame.

  Next, mesh layer creation will be described using the flowchart of FIG.

  The minimum mesh creation unit 111 reads the minimum mesh size and the like into a memory (not shown) in response to the input of the minimum mesh size (for example, 1 m) (S141). In this memory, the lattice size of the minimum mesh layer, each lattice size of the upper mesh layer having a lattice that is successively larger by n times than the lattice size (10 m, 100 m... When the minimum mesh lattice is 1 m), The number of thinned out high-density laser points in the upper mesh layer (for example, in the case of 4000 points in a 1 m mesh, 1/10 of a 10 m mesh) is stored.

  Next, the minimum mesh creation unit 111 creates a minimum mesh having a lattice size of, for example, 1 m in length × 1 m in width in the memory 17a (S142). These minimum meshes are assigned a mesh number.

  Next, a laser point group (for example, a point group having an interval of 1 cm) which is the original data of the database 10 is read and stored (assigned) to the minimum mesh of the memory 17a (S143).

  Next, the minimum mesh creation unit 111 creates an upper mesh of 10 m mesh with 10 grids of the minimum mesh and 10 grids as one grid (S144).

  Next, thinning is performed so that the interval between the laser point groups of each lattice (mesh) of the minimum mesh layer is constant (for example, 1/10), and this is stored (assigned) in the upper mesh of 10 m mesh (S145). Then, it is determined whether or not the mesh size has been created up to 100 km × 100 km. If not created, the process returns to S144 to create the next size mesh (S146).

(Process until the laser point group is obtained in the memories 29b and 31b)
Next, the road part extraction processing unit 13 will be described. As a premise thereof, the process until the laser point group of the laser ortho output range Di is obtained in the memory 29b and the memory 31b will be supplementarily described with reference to the flowcharts of FIGS. .

  The data area diagram display unit 15 reads the movement locus (plane rectangular coordinate system) from the memory 26a and displays it on the screen (movement locus image: planar rectangular coordinate system) by the image output unit 16 (S161).

  Next, the operator inputs a laser ortho output range Di [(xmin, ymin), (xmax, ymax): for example, an intersection range]] on the movement trajectory image using a mouse or the like (S162a).

  Next, the range ID code conversion unit 27 defines the input laser ortho output range Di on the point cloud data range Dp of the memory 17a (S162b: see FIG. 18A).

  Specifically, the laser point group data range Dp is defined in the working memory 32, and the laser ortho output range Di is defined.

  Next, the operator inputs the minimum mesh size using the mouse and keyboard (S164). In the present embodiment, the minimum mesh size is 1 m × 1 m. The minimum mesh size may be stored in advance in a memory (not shown).

  Next, the range ID code conversion unit 27 reads the minimum mesh size Dm (S165), and allocates the minimum mesh layer (point cloud data range Dp: memory 17a) having the minimum mesh size (S166).

In FIG. 18A, the point cloud data range Dp of the memory 17a has a minimum value of (−60, 401.9) and (−41, 278.2) in the plane rectangular coordinate system, and the maximum value is The cases of (−59, 756.9) and (−40, 619.1) are shown, and the minimum value of the laser ortho output range Di is (−60, 131.6) and (−40, 994.6), the maximum The values indicate the cases of (−60, 0141.9) and (−40, 837.5). However, the unit of this coordinate system is m.

Next, the range ID code conversion unit 27 defines the defined laser ortho output range Di with a mesh ID (S167). This is stored in the memory 29a as the aforementioned Di mesh ID list (S168).

The definition of the aforementioned laser ortho output range Di in mesh ID is as follows:
If the coordinates of the image of the movement locus are Xi (Dixi) and Yi (Diii), and the minimum mesh interval is Dm,
The mesh ID including the point (Xi, Yi) is calculated as (INT (Xi / Dm), INT (Yi / Dm)).

  However, INT (x)) is a maximum integer not exceeding x (a minimum integer in the case of a negative value). Therefore, the mesh ID is a character string of [mesh hierarchy level] [range in the X direction] [range in the Y direction].

  Therefore, the mesh hierarchy level is defined as 1 when the mesh interval is 1 cm, 2 when the mesh interval is 1, 3 when the mesh interval is 1 m, and so on.

In FIG. 18 (a),
Since the minimum value of the laser ortho output range Di is (-60,131.6, -40,994.6) and the minimum mesh interval is 1 m, the ID in the X direction is (INT (-60,131.6 / 1), so it is M60132. Since the ID of (INT (−40,994.6 / 1) is M40995, the minimum mesh ID of the laser ortho output range Di is 3M60132M40995.

  That is, the range in the minimum mesh layer corresponding to the laser ortho output range Di specified on the movement trajectory image is defined by each mesh ID of the layer.

  On the other hand, the maximum value of the laser ortho output range Di is (-60,014.1, -40,837.5) and the minimum mesh interval is 1 m, so the ID in the X direction is M60015 and the ID in the Y direction is M40838. Therefore, the minimum mesh ID is 3M60015M40838.

  Then, as shown in FIG. 16, the range ID code conversion unit 27 generates a large area including the laser ortho output range Di as the search range Dr (S169a: see FIG. 18B).

  That is, in the point cloud data range Dp, the search range Dr is determined as a range having a size including the laser ortho output range Di [(Xmin, Ymin), (Xmax, Ymax)]. Use the smallest unit (1cm or 10cm or 1m).

  This search range Dr is generated because the image of the movement trajectory has a fine resolution, and therefore the edge of the laser ortho output range Di may extend somewhere in the mesh of the point cloud data range Dp. .

Next, the mesh ID of the point cloud data range Dp corresponding to the search range Dr is loaded from the memory 17ab into the memory 31a (S169b). This is the formula used in step S167,
The mesh ID is calculated as (INT (Xi / Dm), INT (Yi / Dm)).

  Next, the frame of the point cloud data range Dp, the search range Dr, and the laser ortho output range Di is defined in the memory 32 (S171a).

  Next, the laser ortho output range Di and the search range Dr are compared to determine whether any range is large (S171b).

  When it is determined in step S171b in FIG. 16 that the laser ortho output range Di is larger than the search range Dr, the processing is performed with the laser ortho output range Di as the search range Dr and the search range Dr as the laser ortho output range Di. The process proceeds to step S167 shown in FIG.

  If it is determined in step S171b that the laser ortho output range Di is smaller than the search range Dr, the process proceeds to step 181 in FIG.

  Then, as shown in FIG. 17, the laser point group extraction unit 30 reads the Dr mesh ID list (Dr) in the memory 31a, and the point group data range Dp (memory 17a, All the laser data of the minimum mesh layer) are extracted from the memory 17a and stored in the memory 31b (S181). That is, the laser point group corresponding to the Dr mesh ID list is obtained in the memory 31b using the mesh ID as a key.

  Next, the laser point group extraction unit 30 reads the Di mesh ID list (Di) in the memory 29a and lasers the point group data range Dp (memory 17a, minimum mesh layer) associated with the mesh number of this mesh ID. All point clouds are extracted from the memory 17a and stored in the memory 29b (S182).

  That is, the laser point group corresponding to the Di mesh ID list is obtained in the memory 29b using the mesh ID as a key.

  Taking the laser ortho output range Di in FIG. 18A as an example, all mesh IDs from 3M60132M40995 to 3M60015M40838 are acquired from the Di mesh ID list and stored in the memory 29b.

    The mesh ID extracted from the Di mesh ID list is as follows.

`` 3M60132M40995, 3M60132M40994, 3M60132M40993, 3M60132M40992, 3M60132M40991, 3M60132M40990, 3M60132M40989, 3M60132M40988, 3M60132M40987, ..., 3M60132M40839, 3M60132M40838, 3M60131M409
3M60131M40994, 3M60131M40993, 3M60131M40992, ..., 3M60015M40838 "
A mesh number (for example, 1, 2, 3,...) Is assigned to the mesh ID (not shown).

  Then, the laser point group extraction unit 30 designates the mesh number (initially the top mesh number) of the memory 31a (Dr) and the mesh number (initially the top mesh number) of the memory 29a (Di) (S183a). ).

  Next, the mesh IDs of the designated mesh numbers are compared (S183b), and it is determined whether the mesh IDs corresponding to these mesh numbers match (S184: see FIG. 19).

  If it is determined in step S184 that they match, each is extracted to a memory (not shown) as a mesh ID having an inclusion relationship (S185).

  This extraction process will be described later using a flowchart.

  Next, it is determined whether there is another mesh number in the Dr mesh ID list (Dr) (S186). If it is determined in step S186 that there are others, the mesh number is updated, and the process returns to step S183 to acquire the mesh ID in the inclusion relationship (S187).

  If it is determined in step S186 that there is no other mesh number, the process ends.

  FIG. 21 is a flowchart for explaining extraction processing (inside / outside determination).

  As shown in FIG. 21, the laser point group extraction unit 30 designates the top mesh number (DDrMBi) of the memory 31a (Dr) (S211).

  Next, the top mesh number (DDiMBi) of the memory 29a (Di) is designated (S212).

  Then, an inside / outside determination window DrW (1 m × 1 m) set in advance for the mesh in the memory 31b (data in the search range Dr) corresponding to the designated mesh number (DrMBi) is defined (S213).

  Next, an inside / outside determination window DiW (1 m × 1 m) that is preset for the mesh in the memory 29b (data of the laser ortho output range Di) corresponding to the designated mesh number (DiBi) is defined (S214). .

  Next, it is determined (inclusion determination) whether or not a laser point group exists in the inside / outside determination window DrW (1 m × 1 m) and the inside / outside determination window DiW (S215).

  When the point cloud data exists in both windows (see FIG. 22), it is determined whether the coordinates of the respective laser data are the same. If they are different, only the laser point cloud Li existing in the inside / outside judgment window DiW is determined. Is valid (a valid flag is added to the corresponding laser point group in the memory 29b) (S216).

  Then, in the laser point group of the memory 29b, only the laser point group having the valid flag is stored in the memory 33 (referred to as data for laser ortho image) (S217).

  Next, it is determined whether there is another mesh number DrBi (S218).

  If there is another mesh number DrBi in step S218, the mesh number DrBi is updated and the process returns to step S211 (S219).

  If it is determined in step S218 that there is no other mesh number DrBi, the process ends.

As shown in FIG. 20, the laser ortho image data includes a laser ortho output range Di (DDi: indicated by plane rectangular coordinates).
That is, as shown in FIG. 18B, when the laser ortho output range Di falls within the search range Dr and the edge of the laser ortho output range Di extends over the mesh, only the laser ortho output range Di is obtained by the above-described processing. Are extracted into the memory 33 as laser ortho image data.

  That is, as shown in FIG. 20, the memory 33 has a laser ortho output range Di [(Xmin, ymin), (Xmax, ymax) with a mesh ID of the extracted Di and a laser point group in each mesh ID (a plurality of points). Laser data Li: 1 may be stored in association with each other. In FIG. 20, the laser point group Li is the same as in FIG. 3, and is simply indicated by Li in FIG.

(Road part extraction processing part)
FIG. 23 is a schematic configuration diagram of the road portion extraction processing unit 13. In FIG. 13, the description of the same components as those in FIG. 9 is omitted.

  As shown in FIG. 23, the road part extraction processing unit 13 includes a laser point cloud reading unit 131, a road part definition unit 132, and the like.

  The road portion definition unit 132 stores a road solid Bi having a width Wi and a height hi at a memory 19a (19aa, 19ab, 19ac...) For each of the positions Pni-1, Pni, Pni + 1,. To generate. This is repeated up to the laser ortho output range Di.

Further, it is preferable to store the memories 19ab, 19ab,... In order every time the road solid body Bi (B1, B2,...) Is created. Note that. The width Wi and the height hi are stored in the memory 26b.

  The laser point group reading unit 131 reads the laser ortho image data (laser point group of the minimum mesh layer) stored in the memories 33 and 29a (laser ortho image data) and stores it in the road solid Bi of the memory 19aa ( Assigned).

  Next, the description of the road portion extraction process will be supplemented using the flowcharts of FIGS.

  The road portion definition unit 132 reads the input laser ortho output range Di into a memory (not shown) (S191). Next, the traveling locus Pi existing in the laser ortho output range Di is read from the memory 26a and stored in a memory (not shown) (S192).

  The road portion definition unit 132 reads the input road width Wi into a memory (not shown) (S193). Next, as shown in FIG. 24, each position Pni of the travel locus Pi (fixed interval: several meters unit is preferable) is defined in the memory (plane rectangular coordinate system), and these positions Pni (P0, Pn1, Pn2,... ) A straight line pnni is connected every time.

Next, the road width Wi is defined in the direction perpendicular to each position pni (preferably at a fixed interval: several meters) with respect to the travel locus Pi (S194a: see FIG. 26).

  Specifically, the movement trajectory (Pni) obtained by connecting the positions pni (X, Y, Z (road surface altitude value)) of the respective travel trajectories Pi in the memory 26a by the straight line PPn (n: 1, 2,...). As shown in FIG. 26, it is defined in the memory 19aa (the same plane rectangular coordinate system as Di). The position Pni is preferably defined by adding a number.

  The road width Wi described above is defined by drawing at right angles to the straight line Pnni + 1 from Pni to Pni + 1.

  However, Pn0 is defined as the end of the laser ortho output range Di, and the road width Wi of Pn1 is defined by translation on pnn1.

  Next, the road part definition part 132 sets the number (ni) of a position (Pni) (S194b). Then, the input height hi (arbitrary) is read (S195). A predetermined position (for example, center: arbitrary) of a line (perpendicular) of this height hi is defined as a position (Pni): Z is a road surface height) ((S196: refer to FIG. 27A)).

  Next, a road solid Bi, in which the road width Wi and height hi are translated from the position (Pni) to the next position (Pn + 1) on the straight line, is created in the memory 19aa (S198a: see FIG. 27A).

Next, a mesh (1 m × 1 m) having a mesh size of the point cloud data range Dp is defined on the road surface (with a mesh number) (S198b: see FIG. 27B). That is, the mesh data is associated with the laser data Li.

  Each vertex Qi (Q1, Q2,..., Q8) of the road solid Bi is defined as Q1, Q2, Q3, and Q4. When the center of hi is defined as the road surface, the road surface height ZHi + hi / 2. , Q5, Q6, Q7, and Q8 are obtained as the road surface height ZHi-hi / 2.

  The center of the road is raised because the predetermined position of the height hi is the road surface. For this reason, it is for acquiring the range below a road surface. For example, when the height hi is 1 m, the lower part is defined as 20 cm and the upper part is defined as 80 cm. Moreover, it may be 50 cm.

  Next, as shown in FIG. 25, each vertex (Q1, Q2,...) Of the road solid Bi is assigned to the mesh ID (1 m × 1 m: elevation value assignment) of the point cloud data range Dp according to the above equation (A). Conversion is performed (S201). That is, the road solid Bi is defined by the mesh size (1 m × 1 m) of the point cloud data range Dp.

Then, the road portion definition unit 132 stores each mesh ID of the road solid Bi in the memory 134 as a road mesh ID list CCi (mesh number and mesh ID) (S202).

Next, the laser point group reading unit 131 (also referred to as the road partial laser point group reading unit 131) stores the mesh ID having the mesh number associated with the mesh ID in the road mesh ID list CCi in the memory 33 (data for laser ortho image). ) (S203).

  Next, the laser point group reading unit 131 reads all the laser point groups of the mesh ID from the memory 35 and stores them in the road solid Bi of the memory 19i (S204).

    Next, it is determined whether or not there is another position Pni of the movement locus (S206). If there are others, the position pni is updated, and the process proceeds to step S194b in FIG. 24 (S207) to generate a road solid at the next position.

  Accordingly, as shown in FIG. 28, only the laser point group having the coordinate value in the road solid is read into the road solid Bi.

  Description will be supplemented with reference to FIG. 29 for the process until only the laser point group of the road portion is read into the road solid Bi.

  That is, as shown in FIG. 29, when a road solid Bi (a 1 m × 1 m mesh of the point cloud data range Dp is defined) is generated in the memory 19aa, the mesh ID conversion unit 132a performs the above mesh ID conversion formula. These mesh IDs are stored in the memory 134 as a road solid mesh ID list CCi.

In the road solid mesh ID list CCi, each mesh number (GBi) of the road solid is stored in association with the obtained mesh ID (M...).

  And the search part 132b searches mesh ID which has each mesh ID of this road solid mesh ID list CCi from the memory 33 (data for laser orthoimage), and the mesh number linked | related with this searched mesh ID is a laser point cloud. The reading unit 131 is informed (output).

  When the mesh number is notified, the laser point group reading unit 131 reads all the laser point groups in the mesh having the mesh number from the memory 33 and stores them in the road solid Bi.

  The meaning of this storage is to store the laser data in correspondence with the mesh number ((1), (2)...). The road point cloud list Fi may be an integrated list associated with the road solid ID list.

  As shown in FIG. 29, the laser point group in the memory 33 is stored in a 1 m × 1 m mesh in which Z is infinite. Therefore, the road solid Bi is defined by the mesh ID of the point cloud data range Dp (minimum mesh layer), and taking out the laser point cloud within this mesh ID range means that the extracted laser point cloud of the memory 33 is Only the upper and lower h / 2 laser point groups are extracted based on Pni.

  That is, although the center of the road and the railroad is raised, since it is a road solid up to a certain distance below the road surface, a laser point cloud corresponding to the shape of the road surface can be acquired. For this reason, it is possible to obtain an image in which the road surface is viewed from above, similarly to the ortho image. In other words, for example, an orthophoto of a road surface has obtained information useful for reading a road condition or creating a map.

  Furthermore, since it is a cut-out solid having an arbitrary cut-out width, it can be acquired including a side ditch and a sidewalk of the road.

  That is, in the map, by removing points other than the road surface, it is possible to image only the road surface on which the structures on the road (electric poles, planting, electric wires, tunnels, etc.) do not cover.

  By storing the width Wi and height hi in the memory 19 with arbitrary values, for example, as shown in FIG. 30, even if there are utility poles, electric wires, or signboards, these are removed as shown in FIG.

  FIG. 32 is a schematic configuration diagram of the laser ortho image creation processing unit 14.

  A description of the same components as above will be omitted.

  The laser ortho image creation processing unit 14 includes an image memory 141 for laser ortho, an image resolution definition unit 142, a grid coloring unit 145, a point group-pixel coordinate conversion unit 143, a connection unit 150, and a road solid connection memory. 151 and the like.

  The above-mentioned image memory 141 for laser ortho is defined by an XY coordinate system (planar coordinate system).

  The image resolution definition unit 142 reads the input laser ortho resolution di and the laser ortho output range Di, and sets the writing range of the image memory 141 to the laser ortho output range Di. Then, the pixel size of the laser ortho image resolution di is defined in the image memory 141i.

  The connecting unit 150 connects the road solids Bi of the memory memories 19aa, 19ab... And stores them in the memory 155 (connected road solid BBi).

  The point group-pixel coordinate conversion unit 143 obtains the pixel GBi (x, y) of the image memory 141 including the laser point group included in the connected road solid BB of the memory 155 and stores it in the memory 144.

The pixel coordinates GBi (x, y) of the image memory 141 are obtained using the laser ortho image resolution di and the minimum mesh layer interval Dm.

For example, the obtained pixel coordinates GBi (x, y) are stored in association with the laser point groups included in the pixel coordinates GBi (pixel point group list GFi (GF1, GF2,...) In FIG. The coordinates GBi are indicated by (1) ′ and (2) ′.

The pixel coordinate GBi (imgx, imgy) is a laser ortho output range Di [(minx, miny), (minx, miny)], a resolution di (dx, dy), and a laser point group (x, y, z). ,

imgx = (x−minx) / dx
imgy = (x−minx) / dx
Calculate with

  The grid coloring unit 145 reads the laser point group associated with the pixel coordinate GBi of the connected pixel-point group list GFi of the memory 144, detects the laser data Lki closest to (including immediately below) the center coordinate of the pixel, A gray scale value corresponding to the reflection intensity of the laser data Lki is assigned to a pixel in the image memory 141 corresponding to the pixel coordinate GBi indicated by the connected pixel point group list GFi. The gray scale value (0 to 255) based on the reflection intensity is arbitrary. Further, when there is no laser point group, it is preferable to assign 0.

  When the pixels of the image memory 141 are colored, the image output unit 16 outputs them as a laser ortho image to the screen 23 for display.

FIGS. 33 and 34 are flowcharts for explaining the operation of the laser orthoimage creation processing unit 14.

As shown in FIG. 33, the image resolution definition unit 142 reads the resolution di (5 cm or less) of the input laser ortho image and the input laser ortho output range Di (range in which the laser ortho is displayed) (S251).

  Next, the image resolution definition unit 142 defines the writing area of the laser ortho image memory 141 (also simply referred to as an image memory) as the laser ortho output range Di, and the pixel size corresponds to the resolution di (5 cm or less (including 5 cm)). ) Size. That is, the mesh image memory 141 corresponding to the resolution di is created (S252).

  Next, the connecting unit 150 connects the road solid Bi of the memories 19aa, 19ab... And stores them in the memory 155 (connected road solid BBi) (S253a).

  Next, the point group-pixel coordinate conversion unit 143 designates the laser data Li of the connected road solid BBi (S253b).

Next, the point group-pixel coordinate conversion unit 143 converts the laser data Li by the mesh ID conversion formula, and converts the pixel GBi of the image memory 141 including the laser data Li to the mesh interval Dm and the resolution di. It calculates | requires using (S254).

Next, a connected pixel point group list GFi to which the laser data Li read into the pixel GBi is assigned is generated in the memory 144 (S255; see FIG. 12). As shown in FIG. 12, a laser point group is associated with a 5 cm mesh.

  Next, it is determined whether there is any other laser data (S256). If there is other laser data, the laser data is updated to the next laser data, and the process returns to step S253a (S257).

  If it is determined in step S256 that there is no other laser data, the pixel coordinates GBi of the connected pixel-point group list GFi in the memory 144 are designated (S258).

  Then, it is determined whether there is laser data associated with the pixel coordinate GBi (S259).

  If it is determined in step S259 that there is laser data, the grid coloring unit 145 detects the laser data Lki closest to the center of the GBi pixel (center line) (S260a).

  Next, the lattice coloring unit 145 reads the reflection intensity In of the laser data (Lki) (S260b).

  If it is determined in step S259 that there is no laser data in GBi, the surrounding pixel is searched with GBi as the center, and the laser data closest to the center of the GBi lattice is detected as Lki. Then, the process returns to step S260b (S260c).

   Next, as shown in FIG. 34, the grid coloring unit 145 reads the value of the gray scale 25 corresponding to the reflection intensity In (S261), and assigns the gray scale value to the grid (pixel) of the image memory 141 ( S262). Note that RGB values may be assigned instead of grayscale.

  Next, it is determined whether GBi is the last (S263). If it is determined in step S263 that it is not the last number, GBi is updated next, and the process returns to step S259 in FIG. 33 (S264).

  Furthermore, when it is determined in step S263 that GBi is the last, the image output unit displays the image in the image memory on the screen (S264: see FIG. 7). This image is referred to as a laser ortho image in this embodiment. ).

  The above description of the coloring process will be supplemented with reference to FIGS. FIG. 35A shows a laser point group of the road solid Bi stored in the memory 19 (original data), and a 5 cm mesh is overlaid as a reference.

FIG. 35B is a diagram illustrating extraction of laser point groups stored in the road solid Bi.

FIG. 35C is a diagram showing that a color corresponding to the reflection intensity of the laser point group is assigned to pixels (lattice or mesh) of the image memory.

  Note that the numbers in FIG. 35B indicate the laser point group numbers. A circle indicates laser data Lki to be detected.

  For example, as shown in FIG. 35 (b), when the laser point group of the road rectangular solid Bi is assigned to the mesh corresponding to each pixel of the image memory 141, as shown in FIG. A point cloud is detected as Lki. The laser data marked with ○ is the closest to the center of the lattice.

  Then, as shown in FIG. 35C, the color of the reflection intensity In is assigned to the lattice (pixel) of the image memory 141 corresponding to the mesh number.

  However, as shown in FIG. 35B, there is no laser data in the pixel of mesh number GBi “14”. In such a case, as shown in FIG. 35 (b), the laser data Lki closest to the mesh number “13” exists from the center distance of the mesh with the mesh number “14” (using the list F). As shown in FIG. 35C, the color value of the reflection intensity of the laser data Lki of the mesh number “13” is assigned to the mesh number GBi “14” (see FIG. 36).

That is, as shown in FIGS. 37 (a) and 37 (b), the utility pole and the water intake are difficult to understand by the above-described processing, but the input width Wi, Since only the laser point cloud in the road solid in the range of hi is extracted and imaged, a laser ortho image from which the utility poles are removed as shown in FIGS. 37 (c) and (d) is obtained. Is done.

  In addition, although it demonstrated as a road in the said embodiment, it may be a track.

  The planar rectangular coordinate system may be a UTM coordinate system.

Further, in the above embodiment, the Z value of the position Pni of the movement locus has been described as the altitude value of the road surface obtained by subtracting the height of the laser measuring instrument. A value obtained by subtracting the height of the laser measurement value from the z value obtained by detecting the laser data immediately below is used as the elevation value of the road surface (see FIG. 38).

Further, a video memory may be provided, and each time a laser ortho image is generated in the image memory 141, it may be stored in this video memory, and a desired laser ortho output range Di may be displayed or printed at a later date.

DESCRIPTION OF SYMBOLS 10 Database 11 Mesh layer creation process part 12 Laser data projection process part 13 Road part extraction process part 14 Laser ortho image creation part 15 Data area figure display part 30 Laser point group extraction part 111 Minimum mesh creation part 112 Upper mesh creation part 113 Laser data Reading unit 116 Mesh layer selection unit 131 Laser point group reading unit 132 Road portion definition unit 141 Image memory 142 for laser ortho Resolution definition unit 145 Grid coloring unit

Claims (18)

A laser orthoimage generating device that emits a laser at intervals of several centimeters while scanning into a target range from a high-density laser device mounted on a moving body, and displays the obtained laser data on a screen as a laser orthoimage,
An image memory for generating an image to be displayed on the screen;
A point mesh data range (Dp) in which the laser data is stored in a minimum mesh group in which i × m pieces of the minimum mesh are generated in a two-dimensional coordinate system in a two-dimensional coordinate system in a two-dimensional coordinate system is defined as a size that the laser data includes a predetermined number. Stored first storage means;
Second storage means for storing the movement trajectory of the mobile object in the two-dimensional coordinate system; and third storage means for storing a road solid (Bi) of the road on which the mobile object traveled is stored in the two-dimensional coordinate system; ,
Means for defining pixels of the image memory with a set resolution (di);
For each predetermined position (Pni) in the predetermined range of the movement locus, a value obtained by subtracting the height (Hi) to the high-density laser device from the z value assigned to the position (Pni) A road surface height coordinate (ZHi), and a means for changing the z value of the movement locus to the road surface height (ZHi);
For each fixed position (Pni) and next fixed position (Pni + 1) of the movement locus, this is defined in the third storage means, and the set width (Wi) is set as the height (ZHi) of the road surface. Means for defining at right angles to the direction of movement of the trajectory;
Each time the width (Wi) is defined in the third storage means, the position of the predetermined height (ho) of the set height (hi) is changed to the fixed position (Pni) and the next fixed position (Pni + 1). ) To obtain a three-dimensional shape of the width (Wi) and the height (hi), and to make this a road solid (Bi);
Each time the road solid (Bi) is generated in the third storage means, all the laser data having coordinates included in the road solid (Bi) is read from the first storage means and the road solid (Bi) is read. Means for storing in,
When all the laser data are stored in the road solid (Bi), the vertical and horizontal coordinates of the plane of the road solid (Bi) are defined by the size (Dm) of the minimum mesh, and the vertical and horizontal coordinates of these meshes are further defined. Means for defining the resolution (di) of the image memory;
A mesh having a resolution (di) in the road solid (Bi) is designated, and for each designation, laser data existing in the mesh is searched, and laser data nearest to the center coordinates of the designated mesh is obtained. Means to determine,
Means for reading the determined reflection intensity of the laser data and obtaining a gray scale value corresponding to the reflection intensity;
Means for assigning the grayscale value to a pixel position in the image memory with the ordinate and abscissa of the designated mesh as the pixel position;
Means for displaying an image of a gray scale value assigned to a pixel of the image memory as the laser ortho image on the screen. A fourth storage means for storing the connected road solid (BBi);
Means for connecting the road solid (Bi) defined by the resolution (di) and storing it in the fourth storage means as the connected road solid (BBi);
Means for specifying a mesh of resolution (di) in the connected road solid (BBi), and for each designation, searching for laser data existing in the mesh and determining the nearest laser data. The laser orthoimage generating apparatus according to claim 1, wherein: A database storing the laser data group;
3. A means for thinning out and storing the laser data when reading and storing the laser data from the database in the minimum mesh of the point cloud data range (Dp) of the first storage means. The laser orthoimage generating apparatus described.   4. The laser ortho image generating apparatus according to claim 1, wherein the resolution (di) is equal to or less than the several centimeters (including the same). Means for defining a laser ortho output range (Di) which is a set display range as the predetermined range in the point cloud data range (Dp) of the first storage means;
Means for defining the defined laser ortho output range Di by the minimum mesh size (Dm);
The laser data having coordinates included in the road solid (Bi) includes means for converting the laser data into laser data within the defined laser ortho output range (Di). The laser orthoimage generating apparatus described.   The laser orthoimage generating apparatus according to any one of claims 1 to 5, wherein a position of the predetermined height (ho) of the height (hi) is hi / 2. When there is no laser data in the mesh of the connected road solid (BBi) corresponding to the pixel, laser data existing in several adjacent meshes is detected, and among these, the laser nearest to the pixel center is detected. 7. A laser ortho-image generating apparatus according to claim 1, further comprising means for assigning a color value corresponding to the reflection intensity of the point. Means for defining, in the point cloud data range (Dp), a search range Dr whose ordinate and abscissa are a certain distance longer than the defined laser ortho output range (Di);
Means for meshing the search range Dr with the minimum mesh size (Dm);
Means for sequentially specifying the mesh of the search range Dr from the top, and sequentially specifying the mesh of the laser ortho output range (Di) from the top;
Each time a mesh number in the search range Dr is specified, a window (Drwi) having the same size as the mesh is defined in the mesh, and the mesh in the point cloud data range (Dp) corresponding to the mesh is defined. Means for reading the laser data into the window (Drwi);
Each time a mesh number in the laser ortho output range Di is specified, a window (Diwi) having the same size as the mesh is defined in the mesh, and the mesh in the laser ortho output range (Di) corresponding to the mesh is defined. Means for reading laser data into the window (Diwi);
Means for determining whether the coordinates of the laser data in both windows are different if the laser data is present in the window (Dwi) and in the window (Drwi);
6. The laser ortho image according to claim 5, further comprising means for setting only laser data existing in the window (Diwi) to laser data in the defined laser ortho output range (Di) if they are different from each other. Generator.   The laser orthoimage generating apparatus according to claim 1, wherein the moving body is a vehicle traveling on a road or a vehicle moving on a track. A laser orthoimage generation program that emits lasers at intervals of several centimeters while scanning into a target range from a high-density laser device mounted on a moving object, and displays the obtained laser data on the screen as a laser orthoimage.
An image memory for generating an image to be displayed on the screen;
A point mesh data range (Dp) in which the laser data is stored in a minimum mesh group in which i × m pieces of the minimum mesh are generated in a two-dimensional coordinate system in a two-dimensional coordinate system in a two-dimensional coordinate system is defined as a size that the laser data includes a predetermined number. Stored first storage means;
Second storage means for storing the movement trajectory of the mobile object in the two-dimensional coordinate system; and third storage means for storing a road solid (Bi) of the road on which the mobile object traveled is stored in the two-dimensional coordinate system; With
Computer
Means for defining pixels of the image memory with a set resolution (di);
For each predetermined position (Pni) in the predetermined range of the movement locus, a value obtained by subtracting the height (Hi) to the high-density laser device from the z value assigned to the position (Pni) Means for changing the z value of the movement locus to the height coordinate (ZHi) of the road surface,
For each fixed position (Pni) and next fixed position (Pni + 1) of the movement locus, this is defined in the third storage means, and the set width (Wi) is set as the height (ZHi) of the road surface. Means for defining at right angles to the direction of movement of the trajectory;
Each time the width (Wi) is defined in the third storage means, the position of the predetermined height (ho) of the set height (hi) is changed to the fixed position (Pni) and the next fixed position (Pni + 1). ) To obtain the three-dimensional shape of the width (Wi) and the height (hi), and to make this a road solid (Bi),
Each time the road solid (Bi) is generated in the third storage means, all the laser data having coordinates included in the road solid (Bi) is read from the first storage means and the road solid (Bi) is read. Means for storing in,
When all the laser data are stored in the road solid (Bi), the vertical and horizontal coordinates of the plane of the road solid (Bi) are defined by the size (Dm) of the minimum mesh, and the vertical and horizontal coordinates of these meshes are further defined. Means for defining by the resolution (di) of the image memory;
A mesh having a resolution (di) in the road solid (Bi) is designated, and for each designation, laser data existing in the mesh is searched, and laser data nearest to the center coordinates of the designated mesh is obtained. Means to determine,
Means for reading the reflection intensity of the determined laser data and obtaining a gray scale value corresponding to the reflection intensity;
Means for assigning the grayscale value to a pixel position in the image memory with the ordinate and abscissa of the designated mesh as the pixel position;
A program for generating a laser ortho image for executing a function as means for displaying an image of a gray scale value assigned to a pixel of the image memory as the laser ortho image on the screen. A fourth storage means for storing the connected road solid (BBi);
The computer,
Means for connecting the road solid (Bi) defined by the resolution (di) and storing it in the fourth storage means as the connected road solid (BBi);
Designates a mesh of resolution (di) in the connected road solid (BBi), and performs a function as means for determining the nearest laser data by searching for laser data existing in the mesh for each designation. A program for generating a laser orthoimage according to claim 10. A database storing the laser data group;
The computer,
12. The function as a means for thinning out and storing when the laser data is read from the database and stored in the minimum mesh of the point cloud data range (Dp) of the first storage means. The program for laser orthoimage generation described.   The program for laser orthoimage generation according to any one of claims 10 to 12, wherein the resolution (di) is the centimeter or less (including the same). The computer,
Means for defining a laser ortho output range (Di), which is a set display range, as the predetermined range in the point cloud data range (Dp) of the first storage means;
Means for defining the defined laser ortho output range Di with the minimum mesh size (Dm);
The laser data having coordinates included in the road solid (Bi) is used as a means for converting the laser data into laser data within the defined laser ortho output range (Di). The program for laser orthoimage generation described.   The program for laser orthoimage generation according to any one of claims 10 to 14, wherein a position of the predetermined height (ho) of the height (hi) is hi / 2. The computer,
When there is no laser data in the mesh of the connected road solid (BBi) corresponding to the pixel, laser data existing in several adjacent meshes is detected, and among these, the laser nearest to the pixel center is detected. The program for laser orthoimage generation according to any one of claims 10 to 15, for executing a function as means for assigning a color value corresponding to the reflection intensity of a point. The computer,
Means for defining, in the point cloud data range (Dp), a search range Dr whose ordinate and abscissa are longer than the defined laser ortho output range (Di) by a certain distance;
Means for meshing the search range Dr with the minimum mesh size (Dm);
Means for sequentially specifying the mesh of the search range Dr from the top and sequentially specifying the mesh of the laser ortho output range (Di) from the top;
Each time a mesh number in the search range Dr is specified, a window (Drwi) having the same size as the mesh is defined in the mesh, and the mesh in the point cloud data range (Dp) corresponding to the mesh is defined. Means for reading the laser data into the window (Drwi);
Each time a mesh number in the laser ortho output range Di is specified, a window (Diwi) having the same size as the mesh is defined in the mesh, and the mesh in the laser ortho output range (Di) corresponding to the mesh is defined. Means for reading laser data into the window (Diwi);
Means for determining whether the coordinates of the laser data in both windows are different in the case where laser data exists in the window (Dwi) and in the window (Drwi);
15. The laser orthoimage according to claim 14 for executing a function as means for using only laser data existing in the window (Diwi) as laser data in the defined laser ortho output range (Di) if they are different. Generation program.   The program for laser orthoimage generation according to any one of claims 10 to 17, wherein the moving body is a vehicle traveling on a road or a vehicle moving on a track.