JP6389049B2 - Laser point group coloring method and laser point group coloring program - Google Patents

Description

  The present invention relates to a laser point group coloring method for providing color information to a laser point group obtained by a laser scanner attached to a vehicle.

  In general, there is no color information in laser point cloud data obtained by a laser scanner. When color information is given to laser point cloud data, the same area is photographed multiple times with a digital camera or the like, and laser point cloud data (three-dimensional coordinates of the point cloud, reflection intensity, acquisition time) in these color images It is common to search for pixels having the same three-dimensional coordinates as) and to give optimum color information from the color information (RGB) of these pixels.

  First, in order to give color information, it is necessary that the laser point group data is reflected in the color image Igj photographed by the digital camera.

  Whether or not the image appears in the color image Igj needs to satisfy the following three conditions.

(1) Projection conditions If the color image Igj acquired by the digital camera is provided with camera parameters such as shooting time, camera shooting position, orientation, image size, and lens distortion, each laser point of the laser point group data Can be calculated in the color image Igj, that is, the projection position of each laser point of the laser point cloud data can be calculated using the photometric collinear conditional expression.

  For example, as shown in FIG. 15A, it is impossible to add color information when the projection position of each laser point of the laser point group data is protruding from the color image Igj.

  A condition in which the projection position of each laser point in the laser point group data does not protrude from the color image Igj is referred to as a projection condition.

(2) Effective area condition Even if each laser point of the laser point group data is geometrically (collinear condition) reflected in the color image Igj, it is in the invalid area that cannot be used for coloring in the color image Igj. It is not necessary.

  For example, as shown in FIG. 15B, in the case of a mobile mapping system in which a laser scanner, a digital camera, or the like is mounted on a vehicle to acquire laser point group data and a color image Igj, the left side of FIG. Even if a manhole (black circle) is shown as shown in FIG. 15, the vehicle is traveling, and therefore, as shown on the right side of FIG. 15B, the color image Igj at the next photographing is hidden by the vehicle. .

  That is, when shooting with a vehicle, it is necessary that the area is not a fixed area (invalid area) where the vehicle is shown. Hereinafter, this is referred to as an effective area condition.

(3) Non-Concealing Condition As shown in FIG. 15C, even if the projection condition is satisfied, the laser spot may be hidden by an obstacle. The fact that the laser spot is not hidden is referred to as a non-hiding condition.

  That is, each laser point of the laser point group has a pixel value at a projection position on a color image that satisfies the three conditions of the projection condition, effective area condition, and non-hiding condition (in the case of a color image, three pixel values of RGB). Candidate for color information.

  There are a plurality of color images satisfying the above three conditions (hereinafter referred to as three conditions) of the projection condition, effective area condition, and non-hiding condition, particularly in the case of a mobile mapping system that performs continuous laser measurement and photography from a vehicle. Is common.

  A representative method among the methods for selecting one of the plurality of image candidates rationally is a distance priority condition.

  The distance priority condition is a method of selecting a color image taken from a position closest to the position of the laser scanner.

  On the other hand, the position correction data generation apparatus of Patent Document 1 is equipped with a laser scanner, a camera, and the like in a vehicle, and emits a laser while scanning on and around a road to obtain a three-dimensional point cloud (laser point cloud data). And get a camera image.

  Then, it is disclosed that color information of a pixel in a camera image having a three-dimensional coordinate of this point is assigned to each laser point of the three-dimensional point group (laser point group data).

JP 2010-287156 A

  In laser point group coloring according to distance priority conditions, for example, when N point laser point group data (i = 1 to N) and M color images Igj (j = 1, 2,...) Are given, It is necessary to select the color image Igj that is closest to the laser point among the color image Igj groups that satisfy the three conditions for each laser point.

  Specifically, instead of obtaining color images Igj that satisfy the three conditions for all color images Igj, a search distance Lmax is set in advance, and the shooting attribute information of the color image Igj within the search distance Lmax is used as a laser point. Sort in ascending order.

  Then, the processing speed is improved by checking whether or not the three conditions are satisfied in order from the color image Igj close to the laser point using the photographing attribute information.

  However, since it is necessary to sort the shooting attribute information of the color image Igj for each laser point in order of distance, the processing speed is not so much improved in practice.

  When the sort processing of the shooting attribute information of the color image Igj is performed every time for all the laser points, in the mobile mapping system, for example, when an image up to Lmax = 100 m is used, several hundred color images Igj are respectively displayed. Since sorting is performed for each laser spot, it takes a very long processing time for sorting.

  On the other hand, the shooting attribute information of the color image Igj is sorted in order of distance for each laser point, it is determined whether each color image Igj satisfies the three conditions, and among the color images Igj satisfying the three conditions, Pixels having the same three-dimensional coordinates as the laser points are searched, and optimum color information is assigned from the color information (RGB) of these pixels. As a result, it takes time to assign the color information.

  On the other hand, the position correction data generation apparatus of Patent Document 1 assigns only the color information of the pixel in the camera image having the three-dimensional coordinates of this point to each point of the three-dimensional point group (laser point group data). Is disclosed, and the reduction of processing time for the allocation of color information is not disclosed.

  The present invention has been made to solve the above problems, and an object of the present invention is to obtain a laser point group coloring method capable of shortening the time of color information allocation processing for a laser point group.

The laser point group coloring method according to the present invention includes an image database in which color image information ( IGMj ) acquired at a first acquisition interval is stored at regular intervals while a digital camera is mounted on a vehicle and the vehicle is running. When,
Laser acquisition information ( RGi ) acquired at a second acquisition interval (second acquisition interval << first acquisition interval) for each predetermined period while a laser scanner is mounted on the vehicle and the vehicle is running is stored. A laser point cloud database,
First storage means for storing sort distance related information ( RLMzj ) for each photographing position ( IPMj ) included in each color image information ( IGMj ) with respect to a reference laser point cloud position ( RNsi ) When,
Second storage means nearest the and coloring satisfy optimal color image (Igpj) optimum detection the colored information (Mp) are stored for the laser acquisition information (RGi),
The reference point group number setting the reference point group number (Nsi) is a set of laser acquisition information (RGi) laser point cloud position included in (RNi) criteria and reference laser point group location made against (RNsi) and use variables (n1), and the point group number of the laser point cloud position (RNi) (Ni) points are set group number setting variables (n2) are prepared,
Computer
A step of setting the laser point cloud position (RNi) specified in the order, to the point group number setting variables this specified order as the point group number (Ni) (n2) of said laser acquisition information (RGi),
Every time the point group number (Ni) is set to the point group number setting variables (n2), the laser point cloud position (RNi) and the reference point group number setting of the current point group number (Ni) currently the reference point group number is set to use variable (n1) the reference laser point cloud position of (Nsi) (RNsi) point group distances D (n1, n2) is the reference distance between the (DTh) and steps to determine whether more than,
If it is determined that the reference distance ( DTh ) is greater than or equal to the current point group number ( Ni ) set in the point group number setting variable (n2), the new reference point group number ( Nsi ) is used as the reference point group number ( Nsi ). a step to set the reference point group number setting variables (n1), if it is determined that the reference distance (DTh) below to keep the current of the reference point group number (Nsi),
Every time the reference point group number to the reference point group number setting variables (n1) (Nsi) is set, the imaging position of each with reference laser point group location of the reference point group number (Nsi) (RNsi) the order of distance seeking respective distance (LRJ) and (IPMj), these distances (LRJ) and the shooting attribute information included in the color image information (IGMj) of the photographing position (IPMj) (IMzj) and the photographing position (IPMj), identifiers and the photographing position sort distance LSort that associates the identifier of the photographing position rank number (IPMj) (n1, m) Sort Sort shooting attribute of the reference point group number setting variables (n1) information ISort (n1) m, the sorted distance-related information including the sorted shooting position IPSort (n1) m (RLMzj) in the first storage means The method comprising the steps of: 憶,
Whether the reference point group number ( Nsi ) set in the reference point group number setting variable (n1) and the point group number ( Ni ) set in the point group number setting variable (n2) are the same If it is the same, start the optimal image detection process for the reference point group, if not, perform the start determination process to start the optimal image search process with truncation determination,
The optimal image detection process for the reference point group includes
(A1). The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information ( RLMzj ) is designated, and thereafter, every time a first photographing position update instruction is input. Designating the sorted shooting position IPSort (n1) m of the next shooting position order number;
(A2). Each time the sorting imaging position IPSort (n1) m is specified, provisions a color image (IgJ) of the color image information corresponding to the sort photographing position IPSort (n1) m (IGMj) , the reference An optimal color image ( Igpj ) that projects the laser point cloud position RNsi based on the sorted photographing attribute information ISsort (n1) m associated with the designated sorted photographing position IPSort (n1) m and satisfies the coloring condition Determining whether or not
(A3). If it is determined that the condition is not satisfied, a first shooting position update instruction is output to designate the sorted shooting position IPSort (n1) m of the next shooting position rank number;
If the condition is satisfied, the file number ( FPmj ) of the assigned color image ( Igj ) and the pixel coordinates at the time of projection are output to a coloring process to color the reference laser point group position ( RNsi ) And
The optimal image retrieval process with the truncation determination is
(B1). The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information RLMzj is designated, and thereafter, every time a second photographing position update instruction is input, Designating the sort shooting position IPSort (n1) m of the shooting position rank number;
(B2) The sort shooting position IPSo of the shooting position rank number next to the step (B1).
rt (n1) with the specified m, variables (m1) to the shooting position rank number to determine if it is set, if the shooting position rank number to the variable (m1) is not set (B3) Starting a step, and if the shooting position order number is set, starting a discontinuation determination process;
(B3). The sorted photographing position IPSort (n1) m associated with the sorted photographing position IPSort (n1) m designated in the step (B1) is read, and the corresponding color image ( Igj ) is read. the projected based on the laser point cloud position sorting read said (RNi) capturing attribute information ISort (n1) m of the current point group number (Ni), or coloring condition is satisfied optimum color image (Igpj) Determining whether or not
(B4) If it is determined that the condition is not satisfied, the second shooting position update instruction is output to specify the sorted shooting position IPSort (n1) m of the next shooting position rank number, and satisfy If so, the sort shooting position IPSort specified in the step (B1)
(N1) of the photographing position rank number m performs a step of outputting the new second photographing position update instruction while set in the variable (m1),
The discontinuation determination process includes
(C1). When it is determined in the step (B2) that the shooting position rank number is set in the variable ( m1 ) , the laser point cloud position ( RNi ) of the current point cloud number ( Ni ) The distance L (n1, n2, m1) from the sorted shooting position IPSort (n1) m of the current shooting position rank number set in the variable ( m1 ) , and the next specified in the (B1) step and said sort distance LSort ranking photographing position rank number (n1, m), the reference laser point of the laser point cloud current position of the point group number (Ni) (RNi) and the current reference point group number (Nsi) Checking whether the truncation condition of the above condition is satisfied using the inter-point-group distance D (n1, n2) to the group position ( RNsi ) ;
(C2). If it is determined that the truncation condition is not satisfied, the distance L (n1, n2, m1
) Is a distance L (n1, n) between the laser point cloud position ( RNi ) of the current point cloud number ( Ni ) and the sorted imaging position IPSort (n1) m of the next order specified in the (B1) step. n2, m) if it is longer, if it is determined that it is longer, starting the (B3) step and determining the condition;
(C3). When it is determined that the distance L (n1, n2, m1) is shorter, the second shooting position update instruction is output to sort the shooting position IPSort of the shooting position rank number of the next rank (
n1) performing a step of newly designating m,
If it is determined that the truncation condition is satisfied, the current optimum detected coloring information ( Mp ) is extracted from the second storage means, and this is directly sent to the coloring process. The gist is to perform processing.

  As described above, according to the present invention, until the inter-point-group distance D (n1, n2) between the laser point group position RNi and the reference laser point group position RNsi is greater than or equal to the reference distance DTh, detection is performed by the previous sorting process. The optimum detected coloring information Mp is directly output to the coloring unit to color the laser point group.

  Therefore, every time the point group number Ni is designated, it is necessary to newly sort the distance, sort the shooting attribute information IMzj of the color image information IGMj, determine the three conditions, and determine the optimum color image to be colored. Therefore, there is an effect that the processing time for coloring the laser point group is remarkably shortened.

It is a schematic block diagram of the laser point group color information provision system of this Embodiment. It is explanatory drawing explaining the structure of color image information IGMj. It is explanatory drawing of the laser acquisition information RGi. It is explanatory drawing explaining calculation of distance LRj. It is explanatory drawing explaining sort distance LSort (n1, m). It is explanatory drawing explaining sort distance relevant information RLMzj. It is explanatory drawing of a projection process. It is a flowchart explaining the outline of the laser point group color information provision system of this Embodiment. It is explanatory drawing explaining the process of step S300, S400, S500. It is explanatory drawing explaining the laser point group coloring result by this Embodiment. It is a flowchart explaining the optimal image detection process for reference | standard point groups. It is a flowchart explaining the optimal image search process with a truncation determination. It is explanatory drawing of discontinuation condition determination. It is explanatory drawing explaining the effect of this Embodiment. It is explanatory drawing of 3 conditions.

  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.

  FIG. 1 is a schematic configuration diagram of a laser point group color information providing system according to the present embodiment. The present embodiment sorts the color image information IGMj with respect to the laser point group (including one laser point) in order of distance, and selects the distance priority condition that preferentially selects the color image information IGMj existing at the closest distance. This is a laser point group color information providing system that uses a method of determining optimum color image information IGMpj that satisfies the three conditions for the laser point group and assigning color information of this optimum color image information IGMpj.

  1 includes a personal computer main body 10 and a display unit 15. The personal computer main body 10 has a digital camera 2a mounted on the vehicle 2 and runs the vehicle 2 at regular intervals (distance). Or an image database 20 in which color image information IGMj in which the color image Igj acquired at each first acquisition interval (distance or time), the shooting position IPMj, and the shooting attribute information IMzj are associated with each other is stored. ing.

  In addition, a laser is fired on the feature at every second acquisition interval (second acquisition interval << first acquisition interval) at regular intervals while the vehicle 2 is running with the laser scanner 2b mounted on the vehicle 2. And a laser point group database 30 in which laser point group data (hereinafter referred to as laser acquisition information RGi) including the laser point group position RNi and the reflection intensity acquired in this manner is stored.

  In the present embodiment, time is used for the first acquisition interval and the second acquisition interval described above, the first acquisition interval is referred to as imaging acquisition time Tmj, and the second acquisition interval is referred to as point cloud acquisition time Tni. Called.

  Furthermore, the personal computer body 10 includes a point cloud number setting unit 50, a distance related information sorting unit 60, a reference point group optimum image condition determining unit 70, a coloring unit 80, a reference point segment number updating unit 140, The following processing is performed by programs such as the point group coloring information extraction unit 130, the point group distance determination unit 150, the truncation determination-added optimal image search unit 160, and the activation determination unit 180.

  Since the laser acquisition information RGi is basically acquired in the scanning order, the distance between the laser point group position RNi of the laser acquisition information RGi and the laser point group position RNi of the next laser acquisition information RGi may be very short. Many. That is, when the distance is very short, the color image information IGMj (j = 1, 2,...) Sorted by the laser point group position RNi is almost the same as the color image information IGMj of the next laser point group position RNi.

  By using this, the number of sorting processes (distance and photographing attribute information) of the color image information IGMj is reduced to detect color image information IGMj (hereinafter referred to as optimum color image information IGMpj) having the closest distance that satisfies the three conditions.

(Description of color image information IGMj, laser acquisition information RGi)
The color image information IGMj and the laser acquisition information RGi (including one laser point) are acquired as described below.

  As shown in FIG. 1, a digital camera 2a, a laser scanner 2b, a GPS receiver 2c (Global Positioning System), and a navigation inertial surveying device (IMU: Internal Measurement System) not shown on a vehicle 2 traveling on a road. ) And an odometer, and each time the distance measurement value from the odometer is constant or a timer (not shown) measures the photographing acquisition time Tmj, the color image information IGMj is obtained and the point cloud acquisition time Tni is measured. A laser is emitted to the feature every time to obtain laser acquisition information RGi. In the present embodiment, description will be made using the imaging acquisition time Tmj and the point cloud acquisition time Tni.

  The above-described digital camera 2a is provided so as to be able to photograph the front of the vehicle (which may be the rear), and captures, for example, about 7 to 8 frames / second as the vehicle 2 travels.

  On the other hand, the laser scanner 2b is provided so as to be able to scan the front of the vehicle (which may be the rear or both sides) with a scanning surface of 45 degrees obliquely, and rotates the laser head as it travels. Then, for example, a laser pulse is emitted at a period of 1/300000 seconds (300 KHz) to receive light. The light reception time of this laser pulse is referred to as point cloud acquisition time Tni in the embodiment.

  The structure of the color image information IGMj will be described with reference to FIG. As shown in FIG. 2A, the color image information IGMj includes related attribute information IMj of the color image Igj, a color image Igj (also referred to as an image main body), and the like.

  2A shows the configuration of the related attribute information IMj of the color image Igj, and FIG. 2B shows the configuration of the color image Igj.

  The color image information IGMj and the laser acquisition information RGi are stored in the image database 20 and the laser point cloud database 30 by other processing (not shown).

  The related attribute information IMj (IM1, IM2,...) Of the color image Igj is preferably classified and stored for each photographing acquisition time Tmj.

  The related attribute information IMj (IM1, IM2,...) Of the color image Igj includes shooting attribute information IMzj, color image shooting position information IJMj, and the like as shown in FIG.

  The shooting attribute information IMzj described above includes information icj about the camera, a depth map, and the like. The information icj related to the camera includes an image size, calibration information called an orientation element, an effective area, and the like.

  Further, as shown in FIG. 2A, the color image shooting position information IJMj includes a shooting position IPMj that is a three-dimensional coordinate (Xmj, Ymj, Zmj) on the road of the digital camera 2a, a shooting acquisition time Tmj, It consists of the file number of the color image Igj (hereinafter referred to as the file number FPmj).

  In the present embodiment, the shooting attribute information IMzj is also referred to as sort shooting attribute information ISort (n1) m described later. The shooting position IPMj is also referred to as a sort shooting position IPSort (n1) m.

  Further, the color images Igj (Ig1, Ig2,...) Are preferably classified for each photographing acquisition time Tmj and stored in the image database 20.

  As shown in FIG. 2B, the color image Igj is image data in which pixel coordinates Pgpx (xmj, ymj) and color information (RGB) are combined, and is associated with a file number FPmj.

  On the other hand, the laser acquisition information RGi includes, as shown in FIG. 3, a laser point group position RNi that is a three-dimensional coordinate (xni, yni, zni) of a laser point, a point group acquisition time Tni, a reflection intensity Eni, and the like. .

  The above-described three-dimensional coordinates of the laser point group position RNi and the imaging position IPMj are defined by a three-dimensional coordinate system based on the lateral Mercator projection and having a predetermined position as an origin.

  Specifically, it is the three-dimensional coordinates of the geographic coordinate system determined based on the GPS data of the GPS receiver 2c, the position from the navigation inertial surveying device, the attitude, and the like.

  In addition, the laser scanner 2b has a reach range of 80m to 100m, and measures a range of 180 degrees, 270 degrees, or 360 degrees around 45 degrees.

(Description of each processing unit)
The point group number setting unit 50 designates the laser acquisition information RGi (i = 1, 2,...) Within the input search distance Lmax (for example, 100 m) from the laser point group database 30 in the order of acquisition.

  Specifically, a reference point group number setting variable (n1) in which the reference point group number Nsi of the reference laser point group position RNsi serving as a reference is set with respect to the laser point group position RNi included in the laser acquisition information RGi. ) And a point group number setting variable (n2) in which the point group number Ni of the laser point group position RNi is set, and the laser point group position RNi (N1, N2...) Of the laser acquisition information RGi is obtained. The order is designated, and this designation order is set as the point group number Ni in the point group number setting variable (n2).

  Each time the reference point group number Nsi is set in the reference point group number setting variable (n1), the distance related information sorting unit 60 and the reference laser point group position RNsi of the reference point group number Nsi and each photographing position IPMj. Are obtained in order of distance. The distance LRj, the shooting attribute information IMzj and the shooting position IPMj included in the color image information IGMj of the shooting position IPMj, the identifier (n1) of the reference point group number setting variable (n1) and the shooting position IPMj. The sort distance related information RLMzj including the sort distance LSort (n1, m), the sort shooting attribute information ISsort (n1) m, and the sort shooting position IPSort (n1) m associated with the identifier (m) of the shooting position rank number of the first is first. Is stored in the storage means 90.

  A specific example of the above-described calculation of the distance LRj will be described.

  For example, when each imaging position IPMj has the relationship shown in FIG. 4 with respect to the reference laser point group position RNsi of the reference point group number Nsi set in the reference point group number setting variable (n1), the color image information The imaging position IPMj of IGMj is sequentially set in the register Mj, and the distance LRj between the imaging position IPMj and the reference laser point group position RNsi is obtained.

  This distance LRj is set such that the coordinates of the photographing position IPMj are Xmj, Ymj, Zmj, and the coordinates of the laser point group position RNi are Xni, Yni, Zni.

Asking.

  Then, the distance related information sorting unit 60 orders these distances LRj in order of distance. In FIG. 4, the imaging position IPM2 is closest to the reference laser point group position RNs1, and is in the order of IPM2, IPM3,.

  That is, when arranged in the distance order, the distances LRj are set to the sort distance LSort (n1, m) (m = 1, 2,...), And the shooting position IPMj is set to the sort shooting position IPSort ( n1) Shown as m.

  That is, as shown in FIG. 6, the sort distance related information RLMzj includes the laser point cloud position RNi, the sort distance LSort (n1, m), the sort shooting position IPSort (n1) m, and the sort shooting attribute information ISsort (n1) m. Consists of. However, m = 1, 2, 3,... (This number is referred to as a shooting position order number).

  The reference point group optimum image detection processing 70 designates the sort shooting position IPSort (n1) m having the shortest distance from the sort distance related information RLMzj in the first storage unit 90, and thereafter updates the first shooting position. Each time an instruction is input, the sort shooting position IPSort (n1) m of the next shooting position rank number is designated.

  Each time the sort shooting position IPSort (n1) m is designated, the color image Igj of the color image information IGMj corresponding to this sort shooting position IPSort (n1) m is assigned from the image database 20 to set the reference point group number. Sort shooting attribute information ISort (n1) m associated with the specified sort shooting position IPSort (n1) m with the reference laser point group position RNsi of the current reference point group number Nsi set in the variable (n1) Based on the above, as shown in FIG. 7, it is projected onto the color image Igj to determine whether or not it is the optimum color image Igpj that satisfies the three coloring conditions. The three conditions are a combination of a projection condition, an effective area condition, and a non-hiding condition. Note that the three conditions are not necessarily required. For example, a combination consisting of a projection condition and an effective area condition or a combination consisting of a projection condition and a non-hiding condition may be used, but in the present embodiment, description will be made on three conditions.

  If it is determined that the three conditions are not satisfied, the first shooting position update instruction is output to specify the sorting shooting position IPSort (n1) m of the next shooting position rank number, and the three conditions are satisfied. If so, the file number FPmj of the assigned color image Igj and the pixel coordinates at the time of projection (generally also referred to as optimum detection coloration information Mp) are output to the coloring unit 80.

  The coloring unit 80 reads the color image Igj of the file number FPmj from the reference point group optimum image detection processing 70 from the image database 20, and the pixel coordinates from the reference point group optimum image detection processing 70 in the color image Igj. The color information (RGB) is colored to the point group at the reference laser point group position RNsi.

  The point group distance determination processing 150 calculates the laser point group position RNi (N2...) Of the current point group number Ni and the point group number Ni each time the point group number setting variable (n2) is set. The distance between point groups (n1, n2) between the current reference point group number Nsi (N1) set in the reference point group number setting variable (n1) and the reference laser point group position RNsi is greater than or equal to the reference distance DTh. Determine whether or not.

  When it is determined that the reference point group number update process 140 is greater than or equal to the reference distance DTh, the current point group number Ni (for example, N5) set in the point group number setting variable (n2) is used as a new reference point group number. The reference point group number setting variable (n1) is set as Nsi, and when it is determined that the distance is equal to or less than the reference distance DTh, the current reference point group number Nsi (N1) is maintained (held).

The optimum image search process 160 with the termination determination prepares the variable m1 and performs the following process.
(B1). The sort shooting position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information RLMzj in the first storage means 90 is designated, and thereafter the second shooting position update instruction is input. A step of designating a sorting shooting position IPSort (n1) m of the next shooting position rank number each time;
In (B2). (B1), in accordance with the designation of the next shooting position rank number shooting position IPSort (n1) m, it is determined whether or not the shooting position rank number is set in the variable m1, and shooting is performed in the variable m1. If the position order number is not set, the step (B3) is started; if the shooting position order number is set, a step for ending discontinuation determination processing described later;
(B3). The sorted shooting position IPSort (n1) m associated with the sorted shooting position IPSort (n1) m designated in the step (B1) is read, and the current point cloud number is read into the color image Igj corresponding thereto. Projecting the laser point cloud position RNi of Ni (N2) and determining whether or not it is the optimum color image Igpj satisfying the three conditions based on the read sort photographing attribute information ISort (n1) m;
(B4) If it is determined that the three conditions are not met, the second shooting position update instruction is output to specify the next shooting position rank number, the sorted shooting position IPSort (n1) m, and the three conditions If it is determined that the condition is satisfied, the shooting position rank number of the sorted shooting position IPSort (n1) m specified in step (B1) is set in the variable m1 and a second shooting position update instruction is newly output. And do. At this time, the point group number Ni of the point group number setting variable (n2), the laser point group position RNi (N2...), The shooting position order number of the projected sort shooting position IPSort (n1) m, and the color image. The pixel coordinates in Igj and the file number FPmj of this color image Igj are stored in the second storage means 100.

The abort determination process performs the following process.
If it is determined in step (C1). (B2) that the shooting position rank number is set in the variable m1, the laser point cloud position RNi of the current point cloud number Ni (N2) and the variable m1 are set. The distance L (n1, n2, m1) between the current shooting position order number (for example, 1) and the sorted shooting position IPSort (n1) m, and the shooting position order number of the next order specified in step (B1) ( For example, the sorting distance LSort (n1, m) of 2) and the point group distance D (n1) between the laser point group position RNi of the current point group number Ni and the reference laser point group position RNsi of the current reference point group number Nsi , N2) to check whether the truncation condition is satisfied,
(C2) If it is determined that the truncation condition is not satisfied, the distance L (n1, n2, m1) is the next point specified by the laser point cloud position RNi of the current point cloud number Ni and the (B1) step. It is determined whether or not it is longer than the distance L (n1, n2, m) from the sort photographing position IPSort (n1) m. If it is determined that the distance is longer, the step (B3) is activated to determine the three conditions. When,
(C3). When it is determined that the distance L (n1, n2, m1) is shorter, a second shooting position update instruction is output to sort shooting positions IPSort of the next shooting position rank number (n1) and a step of newly designating m.

  If the point group coloring information extraction processing 130 determines that the truncation condition is satisfied, the point optimum coloring information Mp (pixel coordinate Pgpx, file number FPmj) is extracted from the second storage means, and this is extracted. Directly sent to the coloring unit 80.

(Description of operation)
Processing of the laser point group color information providing system configured as described above will be described with reference to the flowchart of FIG.

  As shown in FIG. 8, the laser point group color information providing system of the present embodiment is defined to perform loop processing for all laser point group positions RNi (i = 1, 2,...) (S100).

  That is, the point group number setting unit 50 sets the reference point group number Nsi (for example, N1 or N5) of the reference laser point group position RNsi that serves as a reference for the laser point group position RNi included in the laser acquisition information RGi. The reference point group number setting variable (n1) to be set and the point group number setting variable (n2) to which the point group number Ni of the laser point group position RNi is set are prepared, and the inputted search distance Lmax The point group number Ni of the laser acquisition information RGi (i = 1, 2,...) (For example, 100 m) is read from the laser point group database 30 and set in the point group number setting variable (n2) (S200). .

  The point group number setting unit 50 determines whether the point group number Ni set in the point group number setting variable (n2) is “1”, and the inter-point group distance determination unit 150 sets the point group number. Each time the point group number Ni is set in the variable (n2), the laser point group position RNi (N2...) Of the current point group number Ni and the reference point group number setting variable (n1) are set. The inter-point group distance (n1, n2) between the current reference point group number Nsi (N1) and the reference laser point group position RNsi is obtained, and this is a preset reference distance DTh (for example, 50 cm to 1 m). It is determined whether or not this is the case (S300).

  If it is determined in step S300 that the point cloud number Ni set in the point cloud number setting variable (n2) is other than “1” or less than or equal to the reference distance DTh, the reference point cloud number updating unit 140 determines the current reference point cloud. The process proceeds to step S600 described later while maintaining the number Nsi.

  Next, when the point group number Ni set in the point group number setting variable (n2) is “1”, the point group number setting unit 50 sets the reference point group number setting variable (n1) as the reference point group. Set as number Nsi. If it is determined in step S300 that the distance is greater than or equal to the reference distance DTh, the reference point cloud number update unit 140 newly sets the current point cloud number Ni (for example, N5) set in the point cloud number setting variable (n2). The reference point group number Nsi is set to the reference point group number setting variable (n1) (S400).

  Each time the distance-related information sorting unit 60 sets the reference point group number Nsi in the reference point group number setting variable (n1) in step S400, the reference laser point group position RNsi of the reference point group number Nsi and The distance LRj to each of the shooting positions IPMj is obtained and arranged in order of distance, and the reference point group is included in these distances LRj, shooting attribute information IMzj and shooting position IPMj included in the color image information IGMj of the shooting position IPMj. Sorting distance LSort (n1, m) and sorting shooting attribute information ISort (n1) m, which associates the identifier (n1) of the number setting variable (n1) and the shooting position ranking number identifier (m) of the shooting position IPMj, sort Sort distance related information RLMzj including the shooting position IPSort (n1) m is stored in the first storage means 90 (S 00).

That is, the processing of steps S300, S400, and S500 is performed as shown in FIG. 9 by the laser point cloud position RNi of the point cloud number Ni (N1, N2,...) Set in the point cloud number setting variable (n2). And the reference point group number Nsi set in the reference point group number setting variable (n1).
The reference point group number Nsi set in the reference point group number setting variable (n1) is maintained until the inter-point-group distance D (n1, n2) to the reference laser point group position RNsi is equal to or greater than the reference distance DTh. When the reference distance DTh is greater than or equal to the reference point group DTh, the current point group number Ni (N1, N2,...) Set in the point group number setting variable (n2) is set as a new reference point group number NSi. It is set in the number setting variable (n1).

  In FIG. 9, when the point group number Ni set in the point group number setting variable (n2) is N1 to N4, the current reference point group number Ns1 set in the reference point group number setting variable (n1) When the point group distance D (n1, n2) is equal to or less than the reference distance DTh, and the point group number Ni set in the point group number setting variable (n2) is N5, the reference distance DTh is greater than or equal to An example is shown in which N5 is set as a new reference point group number NSi in the reference point group number setting variable (n1), and a new sorting process is performed using this N5 reference point group number NSi.

  Next, the activation determination unit 180 determines whether the reference point group number Nsi set in the reference point group number setting variable (n1) and the point group number Ni set in the point group number setting variable (n2) are the same. If it is the same, the optimum image detection unit for reference point group 70 is activated, and if it is not the same, the optimum image search unit 160 with truncation determination is activated (S600).

  Then, the reference point group optimum image detection unit 70 performs the reference point group optimum image detection process (S700), and the truncation determination-added optimal image search unit 160 performs truncation determination-added optimal image search processing (S800).

  Next, after the coloring unit 80 has performed the optimal image detection process for the reference point group or the optimal image search process with truncation determination, it is determined whether or not the optimal color image Igpj in the nearest vicinity and satisfying the three conditions has been found ( S900).

  In step S900, when an image satisfying the three conditions is found in the nearest neighborhood, the coloring unit 80 reads the file number FPmj of the optimum color image Igpj and the pixel coordinates Igpx in the optimum color image Igpj, and this optimum color image. Color information (RGB) of the pixel coordinates Igpx on Igpj is given to the laser point group position RNi and displayed on the screen, and this is stored in the memory 85 (S1000).

  FIG. 10 shows the result of laser point group coloring according to this embodiment. 10A shows the laser acquisition information RGi (RG1, RG2,...), And FIG. 10B shows the color image Igj (Ig1, Ig2,...) Of the color image information IGMj (IGM1, IGM2,...). FIG. 10C shows the laser point group colored image GRIj colored by the above processing.

(Optimum image detection processing for reference points)
FIG. 11 is a flowchart for explaining the optimal image detection process for the reference point group.

  As shown in FIG. 11, the reference point group optimum image detection unit 70 sets a loop of all sort photographing positions IPSort (n1) m (m = 1, 2,...) Upon activation (S710). ).

  Specifically, the shooting position number of the sort shooting position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information RLMzj in the first storage unit 90 is set as the shooting position rank number setting variable m ( After that, every time the first shooting position update instruction is input, the next shooting position rank number is set in the shooting position rank number setting variable m (ma) and the next shooting position rank number is set. The sort shooting position IPSort (n1) m is designated.

  Each time the photographing position order number is set, the color image Igj of the color image information IGMj corresponding to the sorted photographing position IPSort (n1) m of this photographing position order number is assigned from the image database 20, and the reference laser point cloud The pixel coordinates Pgpx are calculated by projecting based on the sort shooting attribute information ISsort (n1) m associated with the sort shooting position IPSort (n1) m of the shooting position rank number in which the position RNsi is set (S714), 3 It is determined whether or not the condition is satisfied (S716).

  If it is determined in step S716 that the three conditions are not satisfied, it is determined whether or not the shooting position rank number (1, 2,...) Set in the shooting position rank number setting variable ma is the last (S718). If it is not the last, the first shooting position update instruction is output to specify the next shooting position order number sort shooting position IPSort (n1) m (S720). If the three conditions are satisfied, the assigned color is assigned. The file number FPmj of the image Igj and the pixel coordinates Pgpx calculated by projection are output to the coloring unit 80 to color the reference laser point group position RNsi (S723).

  If it is determined in step S718 that the designated shooting position order number (1, 2,...) Is the last, it is determined that the optimum color image Igpj is not found for the designated laser point group position RNi (S722). .

(Optimum image search process with censoring judgment)
Next, FIG. 12 is a flowchart for explaining the optimum image search processing with a truncation determination. The optimal image search unit 160 with a discontinuation determination performs the processing described below.

  The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information RLMzj in the first storage unit 90 is designated in order (S810).

  Specifically, (B1). A shooting position rank number is set and designated in a shooting position rank number setting variable m (also referred to as mb for distinction), and thereafter the next shooting position rank number is input every time a second shooting position update instruction is input. A new sort shooting position IPSort (n1) m is designated by newly setting the shooting position rank number setting variable m (mb).

  Next, (B2). (B1) Sorting of the shooting position rank number next to the step With the designation of the shooting position IPSort (n1) m, it is determined whether or not the shooting position rank number is set in the variable m1, and the shooting position rank number is set in the variable m1. If is not set (B3), the step is started, and if the shooting position rank number is set, the abort determination process is started (S812).

  When it is determined in step (B3). (B2) that the shooting position rank number is not set in the variable m1, it is associated with the sort shooting position IPSort (n1) m specified in step (B1). The sort photographing position IPSort (n1) m is read, the laser point cloud position RNi of the current point cloud number Ni (N2) is projected onto the color image Igj corresponding thereto, and the pixel coordinate Pgpx is calculated. (S814) It is determined whether the color image Igpj satisfies the three conditions based on the read sort photographing attribute information ISort (n1) m (S816).

  Next, when it is determined that the condition (B4) .3 is not satisfied, it is determined whether or not the shooting position rank number set in step (B1) is the last (S818). The position update instruction is output to specify the next shooting position order number sort shooting position IPSort (n1) m (S820), and when the three conditions are satisfied, the shooting position order set in step (B1). The number (1, 2,...) Is set in the variable m1, and the file number FPmj of the color image Igj on which the laser point group position RNi is projected and the pixel coordinates Pgpx at the time of projection are set as the optimally detected colored information Mp. Store in the storage means 100 (S825).

  If it is determined in step S818 that the shooting position rank number is not the last, a second shooting position update instruction is newly output, and the next shooting position rank number is set as a shooting position rank number setting variable. Newly set to m (mb).

  If it is determined in step S818 that the shooting position order number set in the shooting position order number setting variable m (mb) is the last, it is determined that the optimum color image Igpj has not been found (S822).

  On the other hand, if it is determined in step S812 that the shooting position rank number is set in the variable m1 in step (B2), an abort determination process (S830) is performed.

  This discontinuation determination process (S830) includes the laser point cloud position RNi of the current point cloud number Ni (N2) set in the point cloud number setting variable (n2) and the current imaging position set in the variable m1. A distance L (n1, n2, m1) from the sorting shooting position IPSort (n1) m of the rank number (for example, 1) is obtained.

Then, the shooting position rank number (for example, 2) of the next rank set in the shooting position rank number setting variable m (mb) in step (B1) is set in the variable m2, and the shooting position rank set in the variable m2 is set. The number sorting distance LSort (n1, m) is read from the first storage means 90. The inter-point-group distance D (n1, n1) between the laser point-group position RNi of the current point-group number Ni determined by the inter-point-group distance determination unit 150 and the reference laser point group position RNsi of the current reference-point group number Nsi. n2) is used to check whether or not the three conditions for termination are satisfied. This will be specifically described with reference to FIG. As shown in FIG. 13, for n2,
[Equation 2]
For m1 and m2 where m2> m1, where m2 = m
LSort (n1, m2)> D (n1, n2)
... (Formula 1)
And,
LSort (n1, m2) -D (n1, n2)> L (n1, n2, m1)
... (Formula 2)
Determine whether or not If true, L (n1, n2, m2) ≧ LSort (n1, m2) −D (n1, n2) from the conditions of the sides of the triangle
・ ・ ・ ・ ・ ・ ・ ・ ・ (Formula 3)
Whether or not is satisfied is determined.

And if true, LSort (n1, m) increases monotonously (in order of distance) with respect to m.
For m ≧ m2, [Equation 3]
L (n1, n2, m) ≧ LSort (n1, m) −D (n1, n2) ≧ LSort (n1, m2) −D (n1, n2) Equation 4
It becomes.

That is, from Equation 2 and Equation 4, for all m ≧ m2,
L (n1, n2, m)> L (n1, n2, m1)
Is guaranteed.

  That is, at laser point cloud position RN2, three conditions are satisfied at m1 = m using ISsort (n) m, PSort (n) m, PSort (n) m and LSort (n, m) previously sorted by RN1. If m2> m1 and the conditions of Equations 1 and 2 are satisfied, it is guaranteed that the image of m2> m1 is farther away than the image of m1, so that sorting for three-condition determination is performed. Processing can be aborted.

For m of m2 <m <m1,
There is a possibility that L (n1, n2, m) <L (n1, n2, m1). However, if RN1 and RN2 are neighboring, m2≈m1 + 1. It can be avoided.

  Then, as shown in FIG. 12, when it is determined in step S830 that Expressions 1 and 2 are established, the point group coloring information extraction processing 130 reads the current optimum detected coloring information Mp from the second storage unit 100. (File number FPmj, pixel coordinate Pgpx) is extracted and sent directly to the coloring unit 80 (S832).

  Next, if it is determined in step S830 that the truncation condition is not satisfied, the distance L (n1, n2, m1) is the laser point cloud position RNi of the current point cloud number Ni and the next specified in the (B1) step. It is determined whether or not it is longer than the distance L (n1, n2, m) from the sort shooting position IPSort (n1) m. If it is determined that it is longer, the process proceeds to step S816 to determine three conditions. (S834).

  If it is determined in step S834 that the distance L (n1, n2, m1) is shorter, the process proceeds to step S818, and the next shooting position rank number sort shooting position IPSort (n1) m is set. Let them be newly specified.

Furthermore, in order to actually calculate LSort (n1, m) and L (n1, n2, m), it is necessary to take the square root, which takes time. Therefore, Equation 2 is modified as follows.
[Equation 4]
LSort (n1, m2) -D (n1, n2)> L (n1, n2, m1)
↓
LSort (n1, m2)> D (n1, n2) + L (n1, n2, m1)
↓
LSort (n1, m2) ² >
{D (n1, n2) + L (n1, n2, m1)} ²
↓
LSort (n1, m2) ² −
D (n1, n2) ² -L (n1, n2, m1) ²
> 2D (n1, n2) L (n1, n2, m1)
↓
LSort (n1, m2) ² −
D (n1, n2) ² -L (n1, n2, m1)> 0
... (Formula 5)
And,
{LSort (n1, m2) ² −
D (n1, n2) ² -L (n1, n2, m1) ² } ²
> 4D (n1, n2) ² L (n1, n2, m1) ²
... (Formula 6)
Equations 5 and 6 can be calculated based on two distances, and can be calculated faster than Equation 2.

(Summary)
That is, in the present embodiment, as shown in FIG. 14, the laser point cloud position RNi and the reference point cloud of the point cloud number Ni (N1, N2,...) Set in the point cloud number setting variable (n2). For setting the reference point group number until the inter-point-group distance D (n1, n2) from the reference laser point group position RNsi of the reference point group number Nsi set in the number setting variable (n1) is equal to or greater than the reference distance DTh. When the reference point group number Nsi set in the variable (n1) is maintained and becomes equal to or greater than the reference distance DTh, the current point group number Ni (N1, N2) set in the point group number setting variable (n2) ..) Is set as a new reference point group number Nsi in the reference point group number setting variable (n1), and after performing the distance sorting process at the reference laser point group position RNsi of the reference point group number Nsi, the reference Performs optimal image condition search processing for point clouds Thus, the optimum detection coloring information Mp is acquired and output to the coloring unit 80.

  If the distance is equal to or less than the reference distance DTh, the optimum image search process with truncation determination (S800) is activated, and the point cloud number setting variable is set while sequentially specifying the sort shooting position IPSort (n1) m from the closest distance. The shooting position rank number of the sort shooting position IPSort (n1) m of the color image information satisfying the three conditions for the laser point cloud position RNi of the point group number Ni of (n2) is found and set to the variable m1, and its color The image information Mp (file number FPmj and pixel coordinate Pgpx at the time of projection of the laser point group position RNi) is stored.

  Then, the distance L (n1, n2, m1) from the sorted shooting position IPSort (n1) m of the current shooting position rank number set in the variable m1 and the sort distance LSort of the shooting position rank number of the next rank. (N1, m) and the inter-point group distance D (n1, n2) are used to check whether or not the truncation condition is satisfied, and when it is determined that the truncation condition is satisfied, the current optimum corresponding to the variable m1 The detected coloring information Mp is sent directly to the coloring unit 80.

  Accordingly, since the previous optimally detected colored information Mp is used during the reference distance DTh or less, the distance sorting is performed every time the point group number Ni is designated, and the photographing attribute information IMzj of the color image information IGMj is sorted. Therefore, since it is not necessary to determine the three conditions, the processing time for coloring the laser point group is remarkably shortened.

DESCRIPTION OF SYMBOLS 10 PC main body 50 Point group number setting part 60 Distance related information sort part 70 Optimum image condition determination part 80 for reference points group Coloring part 130 Point group coloring information extraction part 140 Reference point number update part 150 Distance determination between point groups Unit 160 Optimal image search unit with abort determination 180 activation determination unit

Claims (13)

An image database in which color image information ( IGMj ) acquired at a first acquisition interval is stored every predetermined period while a digital camera is mounted on the vehicle and the vehicle is running,
Laser acquisition information ( RGi ) acquired at a second acquisition interval (second acquisition interval << first acquisition interval) for each predetermined period while a laser scanner is mounted on the vehicle and the vehicle is running is stored. A laser point cloud database,
First storage means for storing sort distance related information ( RLMzj ) for each photographing position ( IPMj ) included in each color image information ( IGMj ) with respect to a reference laser point cloud position ( RNsi ) When,
Second storage means nearest the and coloring satisfy optimal color image (Igpj) optimum detection the colored information (Mp) are stored for the laser acquisition information (RGi),
The reference point group number setting the reference point group number (Nsi) is a set of laser acquisition information (RGi) laser point cloud position included in (RNi) criteria and reference laser point group location made against (RNsi) and use variables (n1), and the point group number of the laser point cloud position (RNi) (Ni) points are set group number setting variables (n2) are prepared,
Computer
A step of setting the laser point cloud position (RNi) specified in the order, to the point group number setting variables this specified order as the point group number (Ni) (n2) of said laser acquisition information (RGi),
Every time the point group number (Ni) is set to the point group number setting variables (n2), the laser point cloud position (RNi) and the reference point group number setting of the current point group number (Ni) currently the reference point group number is set to use variable (n1) the reference laser point cloud position of (Nsi) (RNsi) point group distances D (n1, n2) is the reference distance between the (DTh) and steps to determine whether more than,
If it is determined that the reference distance ( DTh ) is greater than or equal to the current point group number ( Ni ) set in the point group number setting variable (n2), the new reference point group number ( Nsi ) is used as the reference point group number ( Nsi ). a step to set the reference point group number setting variables (n1), if it is determined that the reference distance (DTh) below to keep the current of the reference point group number (Nsi),
Every time the reference point group number to the reference point group number setting variables (n1) (Nsi) is set, the imaging position of each with reference laser point group location of the reference point group number (Nsi) (RNsi) the order of distance seeking respective distance (LRJ) and (IPMj), these distances (LRJ) and the shooting attribute information included in the color image information (IGMj) of the photographing position (IPMj) (IMzj) and the photographing position (IPMj), identifiers and the photographing position sort distance LSort that associates the identifier of the photographing position rank number (IPMj) (n1, m) Sort Sort shooting attribute of the reference point group number setting variables (n1) information ISort (n1) m, the sorted distance-related information including the sorted shooting position IPSort (n1) m (RLMzj) in the first storage means The method comprising the steps of: 憶,
Whether the reference point group number ( Nsi ) set in the reference point group number setting variable (n1) and the point group number ( Ni ) set in the point group number setting variable (n2) are the same If it is the same, start the optimal image detection process for the reference point group, if not, perform the start determination process to start the optimal image search process with truncation determination,
The optimal image detection process for the reference point group includes
(A1). The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information ( RLMzj ) is designated, and thereafter, every time a first photographing position update instruction is input. Designating the sorted shooting position IPSort (n1) m of the next shooting position order number;
(A2). Each time the sorting imaging position IPSort (n1) m is specified, provisions a color image (IgJ) of the color image information corresponding to the sort photographing position IPSort (n1) m (IGMj) , the reference An optimal color image ( Igpj ) that projects the laser point cloud position RNsi based on the sorted photographing attribute information ISsort (n1) m associated with the designated sorted photographing position IPSort (n1) m and satisfies the coloring condition Determining whether or not
(A3). If it is determined that the condition is not satisfied, a first shooting position update instruction is output to designate the sorted shooting position IPSort (n1) m of the next shooting position rank number;
If the condition is satisfied, the file number ( FPmj ) of the assigned color image ( Igj ) and the pixel coordinates at the time of projection are output to a coloring process to color the reference laser point group position ( RNsi ) And
The optimal image retrieval process with the truncation determination is
(B1). The sort photographing position IPSort (n1) m in the order of the shortest distance is designated from among the plurality of sort distance related information ( RLMzj ) , and thereafter each time a second photographing position update instruction is input. Designating the sorted shooting position IPSort (n1) m of the next shooting position order number;
(B2) The sort shooting position IPSo of the shooting position rank number next to the step (B1).
rt (n1) with the specified m, variables (m1) to the shooting position rank number to determine if it is set, if the shooting position rank number to the variable (m1) is not set (B3) Starting a step, and if the shooting position order number is set, starting a discontinuation determination process;
(B3). The sorted photographing position IPSort (n1) m associated with the sorted photographing position IPSort (n1) m designated in the step (B1) is read, and the corresponding color image ( Igj ) is read. the projected based on the laser point cloud position sorting read said (RNi) capturing attribute information ISort (n1) m of the current point group number (Ni), or coloring condition is satisfied optimum color image (Igpj) Determining whether or not
(B4) If it is determined that the condition is not satisfied, the second shooting position update instruction is output to specify the sorted shooting position IPSort (n1) m of the next shooting position rank number, and satisfy If so, the sort shooting position IPSort specified in the step (B1)
(N1) of the photographing position rank number m performs a step of outputting the new second photographing position update instruction while set in the variable (m1),
The discontinuation determination process includes
(C1). When it is determined in the step (B2) that the shooting position rank number is set in the variable ( m1 ) , the laser point cloud position ( RNi ) of the current point cloud number ( Ni ) The distance L (n1, n2, m1) from the sorted shooting position IPSort (n1) m of the current shooting position rank number set in the variable ( m1 ) , and the next specified in the (B1) step and said sort distance LSort ranking photographing position rank number (n1, m), the reference laser point of the laser point cloud current position of the point group number (Ni) (RNi) and the current reference point group number (Nsi) Checking whether the truncation condition of the above condition is satisfied using the inter-point-group distance D (n1, n2) to the group position ( RNsi ) ;
(C2). If it is determined that the truncation condition is not satisfied, the distance L (n1, n2, m1
) Is a distance L (n1, n) between the laser point cloud position ( RNi ) of the current point cloud number ( Ni ) and the sorted imaging position IPSort (n1) m of the next order specified in the (B1) step. n2, m) if it is longer, if it is determined that it is longer, starting the (B3) step and determining the condition;
(C3). When it is determined that the distance L (n1, n2, m1) is shorter, the second shooting position update instruction is output to sort the shooting position IPSort of the shooting position rank number of the next rank (
n1) performing a step of newly designating m,
If it is determined that the truncation condition is satisfied, the current optimum detected coloring information ( Mp ) is extracted from the second storage means, and this is directly sent to the coloring process. And a laser dot group coloring method. The computer is
If the point group number setting variables (n2) to the set the point group number (Ni) is "1", the reference point group number (N si) as the reference point group number setting variables (n1 2. The laser point group coloring method according to claim 1, wherein the step of setting to (1) is performed. The coloring process is
The file reading number color image (IgJ) of (FPmj) from the database for the image, the pixels from the optimum image detection processing reference point group of the color image (IgJ) from the optimum image detection processing said reference point group 3. The laser point group coloring method according to claim 1, wherein the color information of the coordinates is colored to the point group of the reference laser point group position ( RNsi ) . The computer is
The laser point group coloring method according to any one of claims 1 to 3, wherein the laser image acquisition information RGi for the specified travel range is acquired and the color image information ( IGMj ) is acquired. In order to specify the sort shooting position IPSort (n1) m in the step (A1), a shooting position rank number setting variable ( ma ) is prepared.
The shooting position rank number in order of the shortest distance among the plurality of sort distance related information ( RLMzj ) is set in the shooting position rank number setting variable ( ma ) , and the sort shooting position IPSort (n1) m is set. After that, every time the first shooting position update instruction is input, the next shooting position rank number is set in the shooting position rank number setting variable ( ma ) , whereby the sorted shooting position IPSort of the next rank is set. n1) Let m be specified,
In order to specify the sort shooting position IPSort (n1) m in the (B1) step, a shooting position rank number setting variable ( mb ) is prepared.
The shooting position rank number in the order of the shortest distance among the plurality of sort distance related information ( RLMzj ) is set in the shooting position rank number setting variable ( mb ) and the sort shooting position IPSort (n1) m is designated. After that, every time a second shooting position update instruction is input, the next shooting position rank number is set in the shooting position rank number setting variable ( mb ) , whereby the sorted shooting position IPSort (n1 ) of the next rank is set. 2. The laser point group coloring method according to claim 1, wherein m is designated. To check whether the discontinuation condition is satisfied,
[Equation 1]
For m1 and m2, where m2> m1, where m2 = m
LSort (n1, m2)> D (n1, n2) (Formula 1)
And,
LSort (n1, m2) −D (n1, n2)> L (n1, n2, m1)
... (Formula 2)
5. The laser point group coloring method according to claim 1, wherein whether or not is satisfied is checked. In place of (Formula 1) and (Formula 2),
[Equation 2]
LSort (n1, m2) ² −D (n1, n2) ² −L (n1, n2, m1) ² > 0
And,
[LSort (n1, m2) ² −D (n1, n2) ² −L (n1, n2, m1) ² ] ²
> 4D (n1, n2) ² L (n1, n2, m1) ²
7. The laser dot group coloring method according to claim 6, wherein whether or not the truncation condition is satisfied is determined. An image database in which color image information (IGMj) acquired at a first acquisition interval is stored every fixed period while the vehicle is mounted with a digital camera mounted on the vehicle,
Laser acquisition information (RGi) acquired at a second acquisition interval (second acquisition interval << first acquisition interval) for each predetermined period while a laser scanner is mounted on the vehicle and the vehicle is running is stored. A laser point cloud database,
First storage means for storing sort distance related information (RLMzj) for each photographing position (IPMj) included in each color image information (IGMj) for a reference laser point cloud position (RNsi) When,
Second storage means for storing optimum detection coloring information (Mp) of the optimum color image (Igpj) that is closest to the laser acquisition information (RGi) and satisfies the coloring condition;
Reference point group number setting in which a reference point group number (Nsi) of a reference laser point group position (RNsi) serving as a reference is set with respect to a laser point group position (RNi) included in the laser acquisition information (RGi). And a point group number setting variable (n2) in which the point group number (Ni) of the laser point group position (RNi) is set,
Computer
Means for sequentially specifying the laser point cloud position (RNi) of the laser acquisition information (RGi), and setting the designated order as the point cloud number (Ni) in the point cloud number setting variable (n2);
Each time the point cloud number (Ni) is set in the point cloud number setting variable (n2), the laser point cloud position (RNi) of the current point cloud number (Ni) and the reference point cloud number setting. The inter-point-group distance D (n1, n2) between the current reference-point group number (Nsi) and the reference laser point-group position (RNsi) set in the variable (n1) is a reference distance (DTh). Means for determining whether or not
If it is determined that the reference distance (DTh) is greater than or equal to, the current point group number (Ni) set in the point group number setting variable (n2) is set as the new reference point group number (Nsi). Means for setting the reference point group number setting variable (n1) and maintaining the current reference point group number (Nsi) when determined to be equal to or less than the reference distance (DTh);
Each time the reference point group number (Nsi) is set in the reference point group number setting variable (n1), the reference laser point group position (RNsi) of the reference point group number (Nsi) and each of the imaging positions. Each distance (LRj) to (IPMj) is obtained and arranged in order of distance, and the shooting attribute information (IMzj) included in the color image information (IGMj) of these distances (LRj) and this shooting position (IPMj) In addition, a sort distance LSort (n1, m) in which the identifier of the reference point group number setting variable (n1) and the identifier of the photographing position rank number of the photographing position (IPMj) are associated with the photographing position (IPMj) and the sorting photographing attribute. Means for storing said sort distance related information (RLMzj) including information ISort (n1) m and sort photographing position IPSort (n1) m in said first storage means;
Whether the reference point group number (Nsi) set in the reference point group number setting variable (n1) and the point group number (Ni) set in the point group number setting variable (n2) are the same If it is the same, activates the optimal image detection means for the reference point group, and if not identical, means activates the optimum image search means with truncation determination,
The optimum image detecting means for the reference point group,
(A1). The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information (RLMzj) is designated, and thereafter each time a first photographing position update instruction is input. Means for designating the sorted photographing position IPSort (n1) m of the next photographing position order number;
(A2) Each time the sorted photographing position IPSort (n1) m is designated, the color image (Igj) of the color image information (IGMj) corresponding to the sorted photographing position IPSort (n1) m is assigned, and the reference An optimal color image that satisfies a coloring condition by projecting a laser point cloud position (RNsi) based on the sorted photographing attribute information ISsort (n1) m associated with the designated sorted photographing position IPSort (n1) m ( Igpj) means for determining whether or not
(A3). If it is determined that the condition is not satisfied, a first shooting position update instruction is output, the sort shooting position IPSort (n1) m of the next shooting position rank number is designated, and the condition is set. A unit that outputs a file number (FPmj) of the allocated color image (Igj) and pixel coordinates at the time of projection to a coloring unit to color the reference laser point group position (RNsi),
The optimal image search means with a truncation determination,
(B1). The sort photographing position IPSort (n1) m in the order of the shortest distance among the plurality of sort distance related information (RLMzj) is designated, and thereafter each time a second photographing position update instruction is input. Means for designating the sorted photographing position IPSort (n1) m of the next photographing position order number;
(B2) In accordance with the designation of the sort shooting position IPSort (n1) m of the next shooting position rank number of the means (B1), it is determined whether or not the shooting position rank number is set in the variable (m1). When the shooting position order number is not set in the variable (m1), (B3) means is activated, and when the shooting position order number is set, means for activating the discontinuation determination means,
(B3). The sorted photographing position IPSort (n1) m associated with the sorted photographing position IPSort (n1) m designated by the means (B1) is read, and the corresponding color image (Igj) is read. The laser point cloud position (RNi) of the current point cloud number (Ni) is projected on the basis of the read sorted photographing attribute information ISort (n1) m, and is an optimum color image (Igpj) satisfying the coloring condition. Means to determine whether
(B4) If it is determined that the condition is not satisfied, the second shooting position update instruction is output to specify the sorted shooting position IPSort (n1) m of the next shooting position rank number, and satisfy If so, the shooting position rank number of the sort shooting position IPSort (n1) m designated by the means (B1) is set in the variable (m1) and the second shooting position update instruction is newly output. means,
The discontinuation determination means is
(C1). If it is determined by the means (B2) that the shooting position rank number is set in the variable (m1), the laser point cloud position (RNi) of the current point cloud number (Ni) A distance L (n1, n2, m1) between the current shooting position order number set in the variable (m1) and the sorted shooting position IPSort (n1) m;
The sort distance LSort (n1, m) of the shooting position rank number of the next rank designated by the (B1) means, the laser point cloud position (RNi) of the current point cloud number (Ni), and the current Means for checking whether or not the termination condition of the above condition is satisfied using the inter-point-group distance D (n1, n2) with the reference laser point group position (RNsi) of the reference point group number (Nsi);
(C2). When it is determined that the truncation condition is not satisfied, the distance L (n1, n2, m1) is set to the laser point cloud position (RNi) of the current point cloud number (Ni) and the (B1 ) It is determined whether it is longer than the distance L (n1, n2, m) with respect to the sorted shooting position IPSort (n1) m of the next order designated by the means, and if it is determined that it is longer, (B3) Means for activating means to determine the condition;
(C3). When it is determined that the distance L (n1, n2, m1) is shorter, the second shooting position update instruction is output to sort the shooting position IPSort of the shooting position rank number of the next rank ( n1) means for newly designating m,
If it is determined that the truncation condition is satisfied, a function as means for extracting the current optimum detected coloring information (Mp) from the second storage means and directly sending it to the coloring means is executed. Laser point cloud coloring program to make it.
The computer,
If the point group number setting variables (n2) to the set the point group number (Ni) is "1",
8. laser point cloud the colored program according to execute the function of the means for setting the reference point group number setting variables (n1) and the reference point group number (Ns i). The coloring means;
The file number color image (IgJ) the image data database whether et loading (FPmj) from the optimum image detection means for the reference point group, the optimum image detection means for the reference point group of the color image (IgJ) the reference laser point cloud positional color information of pixel coordinates from (RNsi) according to claim 8 or 9, wherein the laser point cloud program with color for executing the function of the means you colored point clouds. The computer,
The laser spot according to any one of claims 8 to 10, for executing a function as means for acquiring the color image information ( IGMj ) while acquiring the laser acquisition information ( RGi ) in a specified travel range. Program with group colors. The computer,
In order to check whether the discontinuation condition is satisfied,
[Equation 3]
For m1 and m2, where m2> m1, where m2 = m
LSort (n1, m2)> D (n1, n2) (Formula 1)
And,
LSort (n1, m2) −D (n1, n2)> L (n1, n2, m1)
... (Formula 2)
12. The laser point group coloring program according to claim 8, wherein a function as means for checking whether or not is established is executed. In place of (Formula 1) and (Formula 2),
[Equation 4]
LSort (n1, m2) ² −D (n1, n2) ² −L (n1, n2, m1) ² > 0
And,
[LSort (n1, m2) ² −D (n1, n2) ² −L (n1, n2, m1) ² ] ²
> 4D (n1, n2) ² L (n1, n2, m1) ²
The laser dot group coloring program according to claim 12, wherein: